Inverter: E70ACM..

Inverter
i700 E70ACM...
i700 servo inverter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Reference manual EN

Ä.T=+ä
13512810
L
Contents
________________________________________________________________
1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 13

1.1 Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14
1.2 Terminology used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15
1.3 Definition of the notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 16
1.4 Structure of the parameter descriptions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 17
2 Parameter handling _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19
2.1 Parameter transfer during initialisation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19
2.2 Storage parameter set (par001.*) and total parameter set (par000.*) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20
2.2.1 Saving a parameter set from the i700 to a file (export) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21
2.2.2 Loading the stored parameter set to the i700 (import) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21
2.2.3 Monitoring of the parameter import (error report) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21
2.3 Cyclic redundancy check (CRC) - parameter set comparison on the basis of the checksum _ _ _ _ _ 22
0x2030 - Parameter set: Validity check (CRC)
3 Communication with the controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23

3.1 Acceleration of the system (initialisation) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23
3.2 Process data (cyclic PDO transfer) and PDO mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25
3.2.1 Synchronisation with "Distributed clocks" (DC) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 26
3.3 Parameter data transfer (SDO communication) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
3.3.1 Object directory _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
3.3.2 SDO abort codes (Abort codes) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28
3.3.3 ESI: EtherCAT Slave Information file (device description) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28
3.4 Activating the control via PDO _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29
0x2824 | 0x3024 - Device control via PDO: Activation
3.5 Lenze control and status word _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29
0x2830 | 0x3030 - Lenze control word
0x2831 | 0x3031 - Lenze status word
0x2833 | 0x3033 - Lenze statusword 2
3.6 Ethernet over EtherCAT (EoE) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32
3.6.1 System architecture _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32
3.6.2 Supported protocols and services _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33
3.6.3 Display of EoE-specific information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33
0x2020 - EoE information
3.6.4 GCI-SDO communication (TCP port 9410) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34
3.6.4.1 Structure of the EtherCAT data telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
3.6.4.2 Assignment of user data areas P0 ... P4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 37
3.6.4.3 Error codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 38
3.6.4.4 Telegram example 1: Querying the heatsink temperature (read request) _ 39
3.6.4.5 Telegram-example 2:
Querying the software version of the i700 (read request) _ _ _ _ _ _ _ _ _ _ 41
3.6.4.6 Telegram example 3:
Setting the LV warning threshold in the i700 (write request) _ _ _ _ _ _ _ _ 43
2 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
Contents
________________________________________________________________
4 Device settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 45
4.1 Behaviour in case of error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 45
0x10F1 - ECAT: Behaviour in case of error
4.2 Device identification data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 47
0x2000 - Device: Data
0x2001 - Device: Name
0x2100 - brand protection
4.3 Function "Optical device recognition" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 48

0x2021 - Device: Optical recognition
4.4 Device commands _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 48
0x2022 - Device command
4.5 Monitoring of the DC-bus voltage _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 49
0x2540 - Device: Voltage values
4.5.1 Resetting the "Undervoltage (LU)" error message _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 52
4.6 Real time information (distributed clock) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 53
0x2580 - ECAT DC: Real-time information
5 Motor control & motor settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 55

5.1 Required commissioning steps (short overview) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57
5.1.1 Servo control for synchronous motor (SM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57
5.1.2 Servo control for asynchronous motor (ASM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 58
5.1.3 V/f characteristic control for asynchronous motor (ASM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 59
5.2 Commissioning functions (short overview) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 60
0x2822 | 0x3022 - Axis command
0x2823 | 0x3023 - Axis command: Progress
0x2825 | 0x3025 - Axis: Operating mode
0x2832 | 0x3032 - Identification: Status word
5.2.1 Enable/inhibit operation via control word _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 62
5.2.2 Saving changed parameters safe against mains failure _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 63
5.3 Wiring check by means of manual test modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 64
0x2835 | 0x3035 - Manual test mode: Settings
5.3.1 Manual test mode "voltage/frequency" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 66
5.3.2 Manual test mode "current/frequency" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 67
5.4 Manual control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 69
0x2836 | 0x3036 - Manual jog: Settings
5.5 Setting the control mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 73
0x2C00 | 0x3400 - Motor control
5.6 Accepting/adapting plant parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 74
5.7 Compensating for inverter influence on output voltage _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 75
0x2DE0 | 0x35E0 - Advanced settings
0x2947 | 0x3147 - Inverter characteristic: Voltage grid points (y)
5.8 Setting the motor parameters for the servo control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79
5.8.1 Lenze motor: Easy loading of motor data from the catalogue via the »PLC-Designer« _ _ 79
5.8.2 Motors of other manufacturers or no catalogue data available:
Three possibilities to create the setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79
0x2C08 | 0x3408 - motor: Setting method - motor parameters
5.8.2.1 Enter motor nameplate data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 80
5.8.2.2 Set motor parameters manually _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 80
5.8.2.3 Determine motor parameters automatically via
"motor parameter identification" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82
Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06 3
Contents
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5.8.3 Motor parameters (object descriptions) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 85

0x2C01 | 0x3401 - Motor: Common parameters
0x2C02 | 0x3402 - Motor (ASM): Parameter
0x2C03 | 0x3403 - Motor (SM): Parameter
0x6075 | 0x6875 - Motor rated current
0x6076 | 0x6876 - Motor rated torque
5.9 Setting the feedback system for the servo control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 89
5.9.1 General settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 90
0x2C45 | 0x3445 - feedback system: Response to open circuit
0x2C46 | 0x3446 - feedback system: Specifiable number of revolutions
0x2C5F | 0x345F - Feedback system: Parameter CRC
5.9.2 Settings for "resolver" version _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 91
0x2C43 | 0x3443 - Resolver: Number of pole pairs
0x2C44 | 0x3444 - Resolver error compensation: Parameter
5.9.3 Settings for "encoder" version _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 93
0x2C40 | 0x3440 - Encoder: Type
0x2C42 | 0x3442 - Encoder: Parameter
5.9.4 Evaluation of the signal quality _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 94
5.9.5 Additional settings for SinCos absolute value encoders with HIPERFACE® protocol _ _ _ 96
0x2C41 | 0x3441 - Hiperface: Parameter
5.9.6 Detection of changed settings of the feedback system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 99
5.10 Synchronous motor (SM): Pole position identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 100
5.10.1 Monitoring of the pole position identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 101
0x2C60 | 0x3460 - Monitoring of pole position identification: Response
5.10.2 Pole position identification PPI (360°) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 101
5.10.2.1 Adapt pole position identification PPI (360°) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 106
0x2C61 | 0x3461 - Pole position identification PPI (360°)
5.10.3 Pole position identification PPI (min. movement) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 109
0x2C62 | 0x3462 - Pole position identification PPI (min. movement)
5.10.4 Pole position identification PPI (without movement) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 112
0x2C63 | 0x3463 - pole position identification PLI (without movement)
5.11 Setting control loops _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 115
5.11.1 Setting and optimising the current controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 115
0x2941 | 0x3141 - Current controller: Feedforward control
0x2942 | 0x3142 - Current controller: Parameter
0x2943 | 0x3143 - Motor: Current setpoint - filter time
5.11.1.1 Manual test mode "Current pulse" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 118
5.11.2 Determining the total moment of inertia _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 121
0x2910 | 0x3110 - Moments of inertia
5.11.3 Setting the speed controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 123
0x2900 | 0x3100 - Speed controller: Parameter
0x2901 | 0x3101 - Speed controller: Gain - adaptation
0x2902 | 0x3102 - Speed controller: Load value I component
0x2903 | 0x3103 - Speed: Speed setpoint - filter time
0x2904 | 0x3104 - Speed: Actual speed - filter time
5.11.4 Setting the position controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 126
0x2980 | 0x3180 - Position controller: Gain
0x2981 | 0x3181 - Position controller: Gain - adaptation
0x2982 | 0x3182 - Position controller: Output signal limitation
0x2983 | 0x3183 - Position: Select a new actual position
0x2984 | 0x3184 - Determine target position: Mode
5.11.5 Setting the field controller (ASM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 128
0x29C0 | 0x31C0 - Field controller: Parameter
Contents
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5.11.6 Setting the field weakening controller (ASM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 129

0x29E0 | 0x31E0 - Field weakening controller: Parameter
0x29E1 | 0x31E1 - field: Field set value limitation
0x29E2 | 0x31E2 - DC link circuit voltage: Filter time
0x29E3 | 0x31E3 - motor: Actual voltage - filter time
0x29E4 | 0x31E4 - Voltage reserve range
5.11.7 Field weakening operation - synchronous motor (SM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 131
5.12 Fine adjustment des motor model _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 132
5.12.1 Correction of the stator leakage inductance (Lss)... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 132
0x2C04 | 0x3404 - Motor: Lss saturation characteristic - inductance grid points (y)
0x2C05 | 0x3405 - Motor: Lss saturation charcteristic - reference for current grid points (x)
5.12.1.1 Example for determining the saturation characteristic _ _ _ _ _ _ _ _ _ _ _ 135
5.12.2 Synchronous motor (SM): Compensating for temperature and current influences _ _ _ 138
0x2C06 | 0x3406 - Motor (SM): Magnet characteristic (current) - grid points
5.12.3 Asynchronous motor (ASM): Identifying the Lh saturation characteristic _ _ _ _ _ _ _ _ _ 139
0x2C07 | 0x3407 - Motor (ASM): Lh saturation characteristic - inductance grid points (y)
5.12.4 Estimating the optimal magnetising current _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 141
5.13 Parameterising filter elements in the setpoint path _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 142
5.13.1 Jerk limitation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 142
0x2945 | 0x3145 - Torque: Setpoint jerk limitation
5.13.2 Notch filters (band-stop filters) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 142
0x2944 | 0x3144 - Torque: Notch filter setpoint torque
5.14 Parameterising the V/f characteristic control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 146
5.14.1 Defining the V/f characteristic shape _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 147
0x2B00 | 0x3300 - VFC: V/f characteristic - shape
0x2B01 | 0x3301 - VFC: V/f characteristic - define reference point
0x2B02 | 0x3302 - VFC: User-definable V/f characteristic - frequency grid points (x)
0x2B03 | 0x3303 - VFC: User-definable V/f characteristic - voltage grid points (y)
5.14.2 Torque increase in the lower speed range ("Boost" function) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 150
0x2B04 | 0x3304 - VFC: Voltage vector control - setpoint current
0x2B05 | 0x3305 - VFC: Voltage vector control parameter
5.14.3 Setting the voltage boost _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 151
0x2B06 | 0x3306 - VFC: Voltage boost
5.14.4 Setting the load adjustment _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 152
0x2B07 | 0x3307 - VFC: Load adjustment parameter
5.14.5 Defining the behaviour at the current limit (Imax controller) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 153
0x2B08 | 0x3308 - VFC: Imax controller - Parameter
5.14.6 Setting the slip compensation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 155
0x2B09 | 0x3309 - VFC: Slip compensation - Parameter
5.14.7 Setting the oscillation damping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 156
0x2B0A | 0x330A - VFC: Oscillation damping - Parameter
5.14.8 Optimising pull-out slip limitation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 158
0x2B0C | 0x330C - VFC: Override point of field weakening
5.14.9 Display parameter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 158
0x2B0B | 0x330B - VFC: Setpoint frequency
5.14.10 "Flying restart" function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 159
0x2BA0 | 0x33A0 - Flying restart: Activate
0x2BA1 | 0x33A1 - Flying restart: Current
0x2BA2 | 0x33A2 - Flying restart: Start frequency
0x2BA3 | 0x33A3 - Flying restart: Integration time
0x2BA4 | 0x33A4 - Flying restart: Min. deviation
0x2BA5 | 0x33A5 - Flying restart: Delay time
0x2BA6 | 0x33A6 - Flying restart: Result
5.15 "DC-injection braking" function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 163
0x2B80 | 0x3380 - DC-injection braking: Current
Contents
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5.16 "Short-circuit braking" function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 164

5.17 Setting the switching frequency _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 165
0x2939 | 0x3139 - Switching frequency
5.18 Frequency and speed limitations _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 166
6 Holding brake control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 167

6.1 Operating modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 167
6.1.1 Triggering via control word via external control (Lenze setting) _ _ _ _ _ _ _ _ _ _ _ _ _ _ 168
6.1.2 Triggering via state machine of device _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 168
6.1.3 No brake connected _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 169
6.2 Opening the brake with a starting torque _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 169
6.3 Display of the holding brake status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 169
6.4 Overriding the selected brake mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 169
6.5 Basic signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 169
6.6 Settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 171
0x2820 | 0x3020 - brake control: settings
7 CiA402 device profile _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 174

7.1 Supported drive modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 176
7.2 Applied units and scaling for position and velocity _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 176
7.3 General CiA402 parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 177
0x60FD | 0x68FD - Digital inputs
0x6404 | 0x6C04 - Motor manufacturer
0x6502 | 0x6D02 - Supported drive modes
0x67FF | 0x6FFF - Device profile number
7.4 Device control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 179
0x6040 | 0x6840 - CiA402 controlword
0x6041 | 0x6841 - Statusword
0x605A | 0x685A - Quick stop option code
0x6060 | 0x6860 - Modes of operation
0x6061 | 0x6861 - Modes of operation display
0x6085 | 0x6885 - Quick stop deceleration
7.4.1 Commands for the device status control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 182
7.4.1.1 Shutdown _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 183
7.4.1.2 Switching on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 184
7.4.1.3 Enable operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 185
7.4.1.4 Activate quick stop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 186
7.4.1.5 Disable operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 187
7.4.1.6 Disable voltage _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 188
7.4.1.7 Fault reset _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 189
7.4.2 Device states _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 190
7.4.2.1 Not ready to switch on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 192
7.4.2.2 Switch on disabled _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 193
7.4.2.3 Ready to switch on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 194
7.4.2.4 Switched on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 195
7.4.2.5 Operation enabled _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 196
7.4.2.6 Quick stop active _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 197
7.4.2.7 Fault reaction active _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 198
7.4.2.8 Fault _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 199
7.4.2.9 STO ("Safe Torque Off") _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 200
7.4.3 Selection of the operating mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 201
Contents
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7.5 Parameters for the scaling of physical values _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 202

0x607E | 0x687E - Polarity
0x6080 | 0x6880 - Max. motor speed
0x608F | 0x688F - Position encoder resolution
0x6090 | 0x6890 - Velocity encoder resolution
7.6 Parameters for actuation of the position control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 205
0x6062 | 0x6862 - Position demand value
0x6063 | 0x6863 - Position actual internal value
0x6064 | 0x6864 - Position actual value
0x6065 | 0x6865 - Following error window
0x6066 | 0x6866 - Following error time out
0x6067 | 0x6867 - Position window
0x6068 | 0x6868 - Position window time
0x60F4 | 0x68F4 - Following error actual value
0x60FA | 0x68FA - Control effort
0x60FC | 0x68FC - Position demand internal value
7.7 Velocity mode (vl) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 208
7.7.1 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 208
7.7.2 Object description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 209
0x6042 | 0x6842 - vl target velocity
0x6043 | 0x6843 - vl velocity demand
0x6044 | 0x6844 - vl velocity actual value
0x6046 | 0x6846 - vl velocity min max amount
0x6048 | 0x6848 - vl velocity acceleration
0x6049 | 0x6849 - vl velocity deceleration
7.7.3 Signal flow (servo control) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 211
7.7.4 Signal flow (V/f characteristic control) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 214
7.8 Cyclic sync position mode (csp) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 217
7.8.1 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 218
0x607A | 0x687A - Target position
0x60C0 | 0x68C0 - Interpolation sub mode select
0x60C2 | 0x68C2 - Interpolation time period
0x60E0 | 0x68E0 - Positive torque limit value
0x60E1 | 0x68E1 - Negative torque limit value
7.8.3 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 221
7.8.4 Control commands & status information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 223
7.9 Cyclic sync velocity mode (csv) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 224
7.9.1 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 225
0x606C | 0x686C - Velocity actual value
0x60B1 | 0x68B1 - Velocity offset
0x60FF | 0x68FF - Target velocity
7.9.3 Signal flow (servo control) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 227
7.9.4 Signal flow (V/f characteristic control) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 229
7.10 Cyclic sync torque mode (cst) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 232
7.10.1 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 233
Contents
________________________________________________________________

0x2946 | 0x3146 - Cyclic sync torque mode: Speed limitation
0x6071 | 0x6871 - Torque demand
0x6072 | 0x6872 - Max torque
0x6073 | 0x6873 - Max current
0x6077 | 0x6877 - Torque actual value
0x6078 | 0x6878 - Current actual value
0x6079 | 0x6879 - DC link circuit voltage
0x60B2 | 0x68B2 - Torque offset
7.10.3 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 239
7.11 Touch probe (TP) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 242
7.11.1 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 243
7.11.2 General functional principle _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 244
7.11.3 Filtering the touch probe signal _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 245
0x2500 - Touch probe (TP): Debounce time
7.11.4 Compensation of runtime delays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 245
0x2D00 | 0x3500 - Touch probe (TP): Dead time compensation
7.11.5 Touch probe function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 246
0x60B8 | 0x68B8 - Touch probe function
7.11.6 Touch probe status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 248
0x60B9 | 0x68B9 - Touch probe status
7.11.7 Time stamps and positions detected _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 249
0x2D01 | 0x3501 - Touch probe (TP): Time stamp
0x60BA | 0x68BA - Touch probe pos1 pos value
0x60BB | 0x68BB - Touch probe pos1 neg value
0x60BC | 0x68BC - Touch probe pos2 pos value
0x60BD | 0x68BD - Touch probe pos2 neg value
Contents
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8 Monitoring functions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 251

8.1 24-V supply voltage monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 251
8.2 Monitoring of the power section and device utilisation (Ixt) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 252
0x2D40 | 0x3540 - Ixt utilisation
8.3 Monitoring of the heatsink temperature _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 255
0x2D84 | 0x3584 - Heatsink temperature
8.4 Monitoring of the motor utilisation (I²xt) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 257
0x2D4E | 0x354E - Motor utilisation (I²xt): Motor overload warning threshold
0x2D4F | 0x354F - Motor utilisation (I²xt): Actual utilisation
0x2D50 | 0x3550 - motor utilisation (I²xt): Motor overload error
0x2D4C | 0x354C - Motor utilisation (I²xt): Parameter for the thermal model
0x2D4D | 0x354D - Motor utilisation (I²xt): User-definable characteristic
8.4.1 Example of how to enter the characteristic for standard and servo motors _ _ _ _ _ _ _ 262
8.4.2 UL 508-compliant I²xt motor overload monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 264
8.5 Motor temperature monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 266
0x2D49 | 0x3549 - Motor temperature monitoring: Parameters
8.5.1 Spec. charact. curve for motor temperature sensor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 268
8.6 Motor speed monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 269
0x2D44 | 0x3544 - Motor speed monitoring
8.7 Motor phase failure monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 270
0x2D45 | 0x3545 - Motor phase failure detection
8.7.1 Limits of the motor phase failure monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 271
8.7.2 Monitoring 2: In the "enable operation" state transition _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 272
8.7.3 Monitoring 1: In "operation enabled" status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 272
8.7.4 Monitoring with regard to short circuit and earth fault _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 273
8.8 Monitoring of the ultimate motor current _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 274
0x2D46 | 0x3546 - Monitoring: Ultimate motor current
8.9 Monitoring of the position and velocity error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 275
0x2D51 - monitoring: Position and velocity error
8.9.1 Monitoring of the position error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 276

8.9.2 Monitoring of the speed deviation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 277
9 Diagnostics & error management _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 278

9.1 LED status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 279
9.2 Indication of fault and warning (error code) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 280
0x603F | 0x683F - Error code
0x284F | 0x304F - Current fault
9.2.1 Response of the device in the event of an error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 281
0x605E | 0x685E - Response to error
0x2826 | 0x3026 - Quick stop: Duration in the event of a fault
9.2.2 Resetting the error/fault _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 283
0x2840 | 0x3040 - Delay time: Reset error
0x2841 | 0x3041 - Reset error
9.3 History buffer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 284
0x10F3 - Diagnostics: History buffer
Contents
________________________________________________________________
9.4 CiA402 error codes / error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 286

Error code 0x0000: No error
Error code 0x2320: Short circuit or earth leakage on motor side
Error code 0x2340: Short circuit on motor side
Error code 0x2351: Motor utilisation (I²xt) > [value] %
Error code 0x2380: Fault - utilisation of the power section (Ixt) too high
Error code 0x2381: Warning - Utilisation of the power section (Ixt) too high
Error code 0x2382: Fault - device utilisation (Ixt) too high
Error code 0x2383: Warning - device utilisation (Ixt) too high
Error code 0x2384: Ultimate motor current reached
Error code 0x2385: Output current > [value] A (maximum device current)
Error code 0x2386: Clamp is active
Error code 0x2387: Clamp responded too often
Error code 0x3210: DC link circuit - overvoltage [value] V
Error code 0x3220: DC link circuit - undervoltage [value] V
Error code 0x4210: Module temperature too high, [value]
Error code 0x4280: Internal fault - module temperature monitoring
Error code 0x4310: Motor temperature too high, [value]
Error code 0x4380: Motor temperature sensor
Error code 0x5112: 24-V supply
Error code 0x6010: Watchdog reset
Error code 0x6310: Incorrect parameter set download
Error code 0x6320: Parameter error in object [value]
Error code 0x7121: PLI - motor blocked
Error code 0x7303: Error in feedback system
Error code 0x7380: Hiperface communication error
Error code 0x7381: Hiperface: Invalid absolute value - motor speed too high
Error code 0x8180: ECAT DC - synchronisation required
Error code 0x8181: EtherCAT communication
Error code 0x8280: Sync Manager - address [value]
Error code 0x8281: Sync Manager - actual size [value]
Error code 0x8282: Sync Manager - settings [value]
Error code 0x8283: PDO Mapping: Object unknown (index [value])
Error code 0x8284: No PDO mapping object (index [value])
Error code 0x8285: Too many mapped objects (max. number = [value])
Error code 0x8286: PDO mapping - error
Error code 0x8700: Sync controller
Error code 0x8701: Time-out during synchronisation with EtherCAT Sync signal
Error code 0xFF00: Fatal internal error
Error code 0xFF01: Fatal internal communication error, cycle [value]
Error code 0xFF02: Brake
Error code 0xFF03: Fatal internal error - overflow task [value]
Error code 0xFF04: PLI - motor movement too large
Error code 0xFF05: STO inhibited
Error code 0xFF06: Max. speed reached
Error code 0xFF07: Impermissible during identification or in the test mode
Error code 0xFF08: Impossible during identification
Error code 0xFF09: Motor phase failure
Error code 0xFF0A: Motor phase failure - phase U
Error code 0xFF0B: Motor phase failure - phase V
Error code 0xFF0C: Motor phase failure - phase W
Error code 0xFF0D: No resolver connected --> command cannot be executed.
Error code 0xFF0E: Speed too low --> command cannot be executed.
Error code 0xFF0F: No resolver connected --> command cannot be executed.
Error code 0xFF10: Time-out
Error code 0xFF11: Numerical problem
Contents
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Error code 0xFF12: Inverter error too big

Error code 0xFF13: Identification aborted
Error code 0xFF14: Not allowed in state 'operation enabled' or 'quick stop active'
Error code 0xFF15: No Hiperface absolute value encoder connected --> command cannot be executed
Error code 0xFF16: Connected Hiperface absolute value encoder is not supported
Error code 0xFF17: Connected Hiperface absolute value encoder is not supported --> command cannot be executed
Error code 0xFF18: Communication timeout in the manual control mode
Error code 0xFF19: Internal error during identification
Error code 0xFF20: The check of the Replacement Protection has failed
9.5 Identification data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 299
0x1000 - Device: Type
0x1001 - Error memory
0x1008 - ECAT: Manufacturer's device name
0x1009 - Device: Hardware version
0x100A - Device: Software version
0x1018 - ECAT: Identification data
9.6 Diagnostics parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 300
0x10F8 - ECAT DC: Current time
0x2D81 | 0x3581 - Counter: Operating time
0x2D82 | 0x3582 - motor: Actual voltage - Veff, phase-phase
0x2D83 | 0x3583 - Motor: Phase currents
0x2D8A | 0x358A - Speed monitoring: Current speed error
10 Service/internal _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 302
0x2DD0 | 0x35D0 - field: Values
0x2DD1 | 0x35D1 - motor: Currents
0x2DD2 | 0x35D2 - Position: Target position interpolated
0x2DD3 | 0x35D3 - Target speeds
0x2DD4 | 0x35D4 - Speed controller: Output signal
0x2DD5 | 0x35D5 - torque: Target torque
0x2DD6 | 0x35D6 - Torque: Filter cascade
0x2DD7 | 0x35D7 - Voltage values
0x2DDC | 0x35DC - Slip: Actual slip
0x2DDD | 0x35DD - Device: Actual output frequency
0x2DDE | 0x35DE - motor: Actual position of rotor angle
0x2DDF | 0x35DF - Axis: Device data
10.1 Firmware update _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 307
10.2 Reserved objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 308
11 Appendix _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 309
11.1 Table of attributes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 309
11.2 Structure of the parameter set file _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 332
11.2.1 File header _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 332
11.2.2 Data header _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 333
Contents
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11.3 Communication objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 335

0x1600 - RPDO-->Axis A: Cyclic sync position mode (csp)
0x1601 - RPDO-->Axis A: Cyclic sync torque mode (cst)
0x1602 - RPDO-->Axis A: Cyclic sync velocity mode (csv)
0x1603 - RPDO-->Axis A: Velocity mode (vl)
0x1604 - RPDO-->Axis A: Touch probe (TP)
0x1605 - RPDO-->Axis A: Freely configurable (user)
0x1606 - RPDO-->Axis A: Torque limits
0x1607 - RPDO --> Axis A: Speed Limits
0x1610 - RPDO-->Axis B: Cyclic sync position mode (csp)
0x1611 - RPDO-->Axis B: Cyclic sync torque mode (cst)
0x1612 - RPDO-->Axis B: Cyclic sync velocity mode (csv)
0x1613 - RPDO-->Axis B: Velocity mode (vl)
0x1614 - RPDO-->Axis B: Touch probe (TP)
0x1615 - RPDO-->Axis B: Freely configurable (user)
0x1616 - RPDO-->Axis B: Torque limits
0x1617 - RPDO --> Axis B: Speed limits
0x1A00 - Axis A-->TPDO: Cyclic sync position mode (csp)
0x1A01 - Axis A-->TPDO: Cyclic sync torque mode (cst)
0x1A02 - Axis A-->TPDO: Cyclic sync velocity mode (csv)
0x1A03 - Axis A-->TPDO: Velocity mode (vl)
0x1A04 - Axis A-->TPDO: Touch probe (TP)
0x1A05 - Axis A-->TPDO: Freely configurable (user)
0x1A06 - Axis A-->TPDO: Additional status information
0x1A10 - Axis B-->TPDO: Cyclic sync position mode (csp)
0x1A11 - Axis B-->TPDO: Cyclic sync torque mode (cst)
0x1A12 - Axis B-->TPDO: Cyclic sync velocity mode (csv)
0x1A13 - Axis B-->TPDO: Velocity mode (vl)
0x1A14 - Axis B-->TPDO: Touch probe (TP)
0x1A15 - Axis B-->TPDO: Freely configurable (user)
0x1A16 - Axis B-->TPDO: Additional status information
0x1C00 - Sync Manager: Communication type
0x1C12 - Sync Manager 2 (RPDO-->Device): PDO mapping
0x1C32 - Sync Manager 2 (RPDO-->Device): Parameter
0x1C33 - Sync Manager 3 (Device-->TPDO): Parameter
11.4 Licences _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 346
Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 347
Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 358
1 About this documentation
________________________________________________________________
 Danger!
The servo inverter presents hazards that may lead to death or severe injury of persons.
In order to ensure protection against these hazards, observe the safety instructions
before switching on the servo inverter.
Please read the safety instructions in the mounting instructions and in the hardware
manual for the i700 servo inverter. Both manuals are included in the scope of supply of
the servo inverter.
Target group
This documentation addresses to all persons who want to parameterise, configure, and diagnose
the i700 servo inverter.
Information on validity
The information in this documentation are valid for the following standard devices:
Product series Type designation From software version

i700 servo inverter E70ACM... 01.00
Screenshots/application examples
All screenshots in this documentation are application examples. Depending on the firmware
version of the i700 servo inverter and the software version of the engineering tools installed (»PLC
Designer« or »EASY Starter«), the screenshots in this documentation may deviate from the screen
representation.
Document history
Version Description
3.0 06/2016 TD06 Extensions & corrections:
• Resetting the "Undervoltage (LU)" error message ( 52)
2.0 11/2015 TD06 Extensions & corrections; Adaptation to software version V01.09
1.4 10/2013 TD05 Extensions & corrections;
Adaptation to software versions V01.04 and V01.05
1.1 07/2012 TD05 First edition
 Tip!
Information and tools regarding the Lenze products can be found in the Internet:
http://www.lenze.com  Download
1.1 Conventions used
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1.1 Conventions used
This documentation uses the following conventions to distinguish between different types of
information:
Type of information Highlighting Examples/notes

Spelling of numbers
Decimal separator Point The decimal point is always used.
Example: 1234.56
Hexadecimal number 0x For hexadecimal numbers, the "0x" prefix is used.
Example: 0x60F4
Binary number 0b For binary numbers, the "0b" prefix is used.
Example: 0b00010111
Text
Version information Blue text colour All information that only applies to or from a certain
software version of the servo inverter is identified
accordingly in this documentation.
Example: This function extension is available from software
version V3.0!
Program name »« The Lenze PC software »PLC Designer«...
Window italics The Message window... / The Options dialog box...
Variable names Set bEnable to TRUE to...
Control element bold The OK button ... / The Copy command ... / The Properties tab
... / The Name input field ...
Sequence of menu If several commands must be used in sequence to carry out a
commands function, the individual commands are separated by an
arrow: Select FileOpen to...
Shortcut <bold> Use <F1> to open the online help.
If a shortcut is required for a command to be executed, a "+"
has been put between the key identifiers: With
<Shift>+<ESC> ...
Program code Courier IF var1 < var2 THEN
Keyword Courier bold a = a + 1
END IF
Hyperlink underlined Optically highlighted reference to another topic. It is

activated with a mouse-click in this online documentation.
Icons
Page reference ( 14) Optically highlighted reference to another page. In this
online documentation activated via mouse-click.
Step-by-step instructions Step-by-step instructions are indicated by a pictograph.

1.2 Terminology used
________________________________________________________________
1.2 Terminology used
Term Meaning
Engineering tools Software solutions for easy engineering in all project stages
»EASY Navigator« – provides a good guide to the user
• All convenient Lenze engineering tools at a glance
• Tools can be selected quickly
• The clear structure simplifies the engineering process from the start
»EASY Starter« – easy-to-use tool for service technicians
• Specially designed for the commissioning and maintenance of Lenze
devices
• Graphical user interface with just a few buttons
• Easy online diagnostics, parameterisation, and commissioning
• No risk of an unintended change in applications
• Loading of ready-to-use applications to the device
»PLC Designer« –For programming processes
• Creating your own programs
• Programming Logic & Motion according to IEC 61131-3 (AWL, KOP, FUP,
ST, AS and CFC-Editor), based on CoDeSys V3
• Certified function blocks according to PLCopen part 1 + 2
• Graphic DIN 66025 Editor (G code) with DXF import
• Integrated visualisation for easy process visualisation
• All important information at a glance during the commissioning process
Lenze Controller The Lenze Controller (abbreviated: "Controller") is the central component of the
automation system which (by means of the runtime software) controls the Logic and
Motion functionalities.
The Lenze Controller communicates with the field devices via the fieldbus.
Engineering PC The Engineering PC and the engineering tools installed on it serve to configure and
parameterise the system.
The Engineering PC uses Ethernet to communicate with the Lenze Controller.
EtherCAT® is a real-time capable Ethernet system with top performance.
EtherCAT® is a registered trademark and patented technology licensed by Beckhoff
Automation GmbH, Germany.
HIPERFACE® HIPERFACE® stands for High Performance Interface and is a universal interface between
the motor feedback system and the servo inverter.
HIPERFACE® is a registered trademark of the SICK STEGMANN GmbH.
Object "Container" for one or several parameters which can be used to parameterise or monitor
Index Each object has a unique index for addressing purposes.
In this documentation the index is represented as a hexadecimal value and is identified
by a prefixed "0x", e.g. "0x1000".
Subindex If a code contains several parameters, they are stored in so-called "subindices".
In this documentation the colon is used as a separator between the index and the
subindex, e.g. "0x1018:1".
Touch probe A "Touch probe" is an event which can for instance be actuated in an edge-controlled
manner via a digital input to detect an actual value (that changes quickly) at the time of
activation and to process it further within the program afterwards.
1.3 Definition of the notes used
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1.3 Definition of the notes used
The following signal words and symbols are used in this documentation to indicate dangers and
important information:
Safety instructions
Layout of the safety instructions:
 Danger!
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph Signal word Meaning

Danger! Danger of personal injury through dangerous electrical voltage
 Reference to an imminent danger that may result in death or serious personal
injury if the corresponding measures are not taken.
Danger! Danger of personal injury through a general source of danger
 Reference to an imminent danger that may result in death or serious personal
injury if the corresponding measures are not taken.
Stop! Danger of property damage
 Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.
Application notes
Pictograph Signal word Meaning

Note! Important note to ensure trouble-free operation

Tip! Useful tip for easy handling

Reference to another document

1.4 Structure of the parameter descriptions
________________________________________________________________
All parameters which you can use to parameterise or monitor the i700 servo inverter are stored
within "objects".
• For the purpose of addressing, each object is provided with a unique index. In this
documentation the index is represented as a hexadecimal value and is identified by a prefixed
"0x", e.g. "0x1000".
• If an object contains several parameters, they are stored in "subindexes". In this documentation
the colon is used as a separator between the index and the subindex, e.g. "0x1018:1".
 Note!
This documentation is valid for the i700 servo inverter in the single axis version (single
inverter) and also as double axis (double inverter).
For parameters referring to one axis, both indexes (for axis A and axis B) are listed in the
parameter description. For a single axis, only the first index is relevant in this case.
Each parameter description is structured according to the following pattern:
Example: Structure of the parameter descriptions in this documentation

 Object index for axis A

 Object index for axis B (only relevant for double axis)
 Parameter or object name
 If the object contains several parameters: Overview table with list of all subindexes
 Table with detailed information about the corresponding parameter:
• Explanations & references (optional)
• Display options/possible settings, Lenze setting, attributes (for the meaning see the following table)
________________________________________________________________
Parameter attributes
Name Meaning
Write access  = Parameter can be written to.
 = Parameter can only be read.
CINH  = Parameter can only be written to if controller inhibit is set.
OSC  = Parameter can be recorded by means of the oscilloscope function.
P  = Parameter can be persisted.
Tx  = Parameter can be mapped into the TPDO.
Rx  = Parameter can be mapped into the RPDO.
Data type Data type of the parameter:
INTEGER_8 1 byte, with sign
INTEGER_16 2 bytes with sign
UNSIGNED_8 1 byte without sign
UNSIGNED_16 2 bytes without sign
STRING(xx) ASCII string (with character length xx)
ARRAY [] OF... ARRAY
Scaling Scaling of the parameter
 Tip!
To find a specific object or parameter in this documentation, you can use the following
navigation helps:
• At the beginning of each main chapter, all objects which are described in the respective
chapter are listed in a table.
• In the Table of attributes and the Index, all objects/parameters are listed with a
reference to the detailed description.
2 Parameter handling
2.1 Parameter transfer during initialisation
________________________________________________________________
2.1 Parameter transfer during initialisation
During the acceleration of the system, the Controller and the servo inverter exchange configuration
data (e.g. bus cycle and PDO mapping). With regard to this, observe the following particular features
for the i700 servo inverter:
Parameter download
The i700 servo inverter itself does not store parameter settings safe against mains failure. All
settings deviating from the i700 servo inverter "Lenze setting" (default) are maintained centrally in
the controller and are stored there permanently (persistently). During the initialisation at run-up,
only these deviations are transferred to the i700 servo inverter by the controller. Like this it is
ensured that the i700 servo inverter works with the parameter settings provided for it.
Firmware download (optional)

If required, the firmware of the i700 servo inverter can be stored together with the »PLC Designer«
project. During the run-up, the controller then checks whether the firmware version in the i700
servo inverter complies with the firmware version stored in the project for this device. If this is not
the case, the controller loads the firmware version stored in the project to the i700 servo inverter.
Like this, it can be ensured for "Device replacement" service work that the replacement device also
works with the same firmware version as the original device.
2.2 Storage parameter set (par001.*) and total parameter set (par000.*)
________________________________________________________________
For the storage of the i700 servo inverter parameters, two different parameter sets are provided,
which are stored in different parameter set files in the higher-level controller:
Storage parameter set (par001.i7psf)

• Only contains the parameters of the i700 servo inverter which are writable and identified with
the "P" attribute (persistent).
• Parameters can be read out from the i700 servo inverter and saved to the file. Conversely, the
parameters stored can be written to the i700 servo inverter again.
• Recommended for storage and archiving of the servo inverter settings.
Total parameter set (par000.i7psf)

• Contains all parameters of the i700 servo inverter, including the mere display parameters which
vary permanently during operation.
• The total parameter set can only be read from the i700 servo inverter.
• Use for purposes of service and diagnostics.
 The structure of the parameter set file is described in the appendix.

Structure of the parameter set file ( 332)
________________________________________________________________
2.2.1 Saving a parameter set from the i700 to a file (export)
Reading out and storing the parameters from the i700 servo inverter is initiated and controlled from
the higher-level controller. For reading out a parameter set, the corresponding parameter values are
summarised in a parameter set file (par001.* or par000.*) in the i700 servo inverter and are then
transferred as a file to the controller via EtherCAT.
2.2.2 Loading the stored parameter set to the i700 (import)
Loading a stored parameter set file to the i700 servo inverter is initiated and controlled from the
higher-level controller, just like in the case of the read-out. The storage parameter set file is
transferred to the i700 servo inverter as a file via EtherCAT, and the parameter settings are loaded
(imported).
For logical reasons, it is only possible to transfer "storage parameter set files" (par001.*) to the i700
servo inverter. Display parameters are updated under normal operating conditions and do not need
to be loaded.
 Note!
In the case of Lenze controllers, the parameter set files are transferred as "files" via GCI
("Generic Communication Interface").
• GCI is a Lenze-specific application protocol which uses CoE ("CANopen over
EtherCAT").
• Other control manufacturers may also use FoE ("File Access over EtherCAT") for the
transfer.
2.2.3 Monitoring of the parameter import (error report)
When the parameter import has been completed, the "parErr.i7psf" error report file is created. This
file is recreated automatically during every import.
On the basis of the error report it can be determined whether errors have occurred during the
parameter import:
• Parameters that have been transferred with errors are listed there together with their index,
subindex, and error code (SDO abort code).
• If no errors have occurred, this data area of the file is blank. However, the headers including the
checksum are available and valid nevertheless.
2.3 Cyclic redundancy check (CRC) - parameter set comparison on the basis of the checksum
________________________________________________________________
2.3 Cyclic redundancy check (CRC) - parameter set comparison on the basis of the checksum
Each parameter set features an individual checksum (CRC32), which is composed of the settings of
all storable indexes (P-flag) of the parameter set. When a setting changes, there is also a change in
the checksum.
Cyclic redundancy check (CRC):

By comparison of the checksums of parameter sets it can be determined very quickly whether
parameter sets are identical or not. In particular, it is thus determined for the i700 servo inverter
whether the parameter set stored in the controller is identical to that in the i700 servo inverter and
therefore does not have to be loaded again.
0x2030 - Parameter set: Validity check (CRC)
Checksum for quick comparison of the storage parameter set (par001.i7psf)

• If the checksum shown here is identical to the checksum of the parameter set file stored in the L-force Controller,
it is not necessary to write the parameter set file to the i700 servo inverter.
• If the checksums are different, however, there are deviations between the parameter set available in the L-force
Controller and that in the i700 servo inverter.
• The checksum cannot be used for comparison of the total parameter set (par000.i7psf).
Display area (min. value | unit | max. value) Initialisation

0 4294967295
 Write access  CINH  OSC  P  RX  TX UNSIGNED_32
3 Communication with the controller
3.1 Acceleration of the system (initialisation)
________________________________________________________________
 "EtherCAT control technology" communication manual

Here you will find detailed information on the EtherCAT configuration and
commissioning of Lenze devices in the EtherCAT network.
Objects described in this chapter
Object Name Data type

Axis A Axis B
0x2020 EoE information RECORD

0x2824 0x3024 Device control via PDO: Activation UNSIGNED_8
0x2830 0x3030 Lenze control word UNSIGNED_16
0x2831 0x3031 Lenze status word UNSIGNED_16
0x2833 0x3033 Lenze statusword 2 UNSIGNED_16
 Tip!
A description of the communication objects relevant to the integration of the servo inverter
with the use of a third-party control can be found in the annex.
Communication objects ( 335)
 Stop!
Before switching on the i700 servo inverter for the first time, check the entire wiring with
regard to completeness, short circuit, and earth fault.
To establish communication, the i700 servo inverter must be supplied with voltage. During the
acceleration of the system, the controller and the drive exchange configuration data.
The controller transmits the following configuration data to the i700 servo inverter:
• Bus cycle
• This is the basic cycle within which the EtherCAT bus is actuated. The bus cycle is given as a
multiple of 125 μs.
• The bus cycle equals the communication cycle within which the process data are exchanged
cyclically. New process data are only accepted and generated in the Servo-Inverter i700
maximally every 250 μs.
• Parameter set determined during commissioning.
• Among other things, it includes information about feedforward control values, the mains
voltage and the switching frequency as well as controller parameters adapted to the motor
module which are used for the motor control.
• Configuration of the process data transmitted cyclically via EtherCAT (PDO mapping)
________________________________________________________________
 Note!
If no data for the initialisation of the controller are transmitted, the i700 servo inverter
uses the "Lenze setting" for the parameters.
Power up/Power down

In the case of "Power up" and "Power down", no undefined states can occur that cause
damage to the device or motor movements which are not requested or not braked.
In the case of a voltage failure/dip, there is no immediate response by the i700 servo
inverter. The functionality is to be maintained for as long as possible.
24-V supply voltage monitoring ( 251)
Persistent data storage

A complete, persistent storage of the drive configuration which remains the same even
though the servo inverter is switched off from time to time is carried out in the higher-
level controller instead of in the i700 servo inverter. Hence, the controller needs to
transmit the configuration data again to the i700 servo inverter after a power up.
However, in the case of a power down, the following device data are stored persistently
in the i700 servo inverter:
• Power-on and elapsed-hour meter (0x2D81 or 0x3581 for axis B)
• History buffer ( 284)
3.2 Process data (cyclic PDO transfer) and PDO mapping
________________________________________________________________

Here you will find some detailed information on the configuration of the process data
objects (PDO mapping) with the »PLC Designer«.
Cyclic process data are transferred cyclically between the controller (master) and the servo inverters
(slaves) as so-called Process Data Objects (PDOs).
• The i700 servo inverter supports the following bus cycle times of the EtherCAT:
0.125 ms*
0.250 ms
0.500 ms
1.000 ms
... (only integer multiple of 1 ms)
10.000 ms (max. cycle time)
* Note: With a bus cycle time of 0.125 ms, the process data is updated only every 0.250 ms, as
this is the fastest control cycle for the setpoint and actual value transfer.
• The processing time of a process date through the drive is t=max[bus cycle, 0.250 ms]. If the
entire chain from the control via the drive back to the control is considered, a process data needs
2 bus cycles in addition (for Lenze C3200) . Thus, the turnaround time for a PDO can be indicated
with 3 bus cycles.
• For the process data communication, the i700 servo inverter supports the mapping of max. 32
process data objects (PDOs) with a total max. size of 100 bytes per direction of transmission.
• A fixed PDO mapping preconfigured by Lenze is available for every CiA402 operating mode
supported by the i700 servo inverter. Every PDO mapping includes of several objects from the
Object directory.
• For every axis, further fixed, preconfigured PDO mappings can be used for touch probe
functionality.
• In addition to the fixed, preconfigured PDO mappings, freely configurable PDO mappings are
available for every axis which can be used for individual PDO mapping. A maximum of 8 objects
from the Object directory can be configured per direction of transmission.
• The configuration of the PDOs actually transmitted between the controller and the i700 servo
inverter is carried out via the »PLC Designer«.
• Experience shows that most i700 servo inverters are operated in one of the available CiA402
operating modes (csp, csv, cst or vl). We therefore recommend to use and activate the fixed
PDO mapping preconfigured by Lenze for the selected operating mode. In doing so all
parameters that usually need to be replaced during a cyclic PDO transfer can be accessed.
• If you wish to use touch probe functionality in addition, optionally and additionally activate
the fixed, preconfigured PDO mapping for touch probe functionality.
• Moreover, the PDO mappings that can be freely configured by the user can be optionally
activated. However, we recommend to use these freely configurable PDO mappings in special
cases only, if no standard PDO mapping is suitable for the case of application at hand. Special
thought should be given to the aspect of traceability in case of service.
Object Info
Axis A Axis B
RPDO mapping – configuration of the process data (setpoints) from the controller to the i700 servo inverter
0x1600 0x1610 Fixed, preconfigured PDO mapping object for "Cyclic sync position mode (csp)"
0x1601 0x1611 Fixed, preconfigured PDO mapping object for "Cyclic sync torque mode (cst)"
________________________________________________________________
Object Info
Axis A Axis B
0x1602 0x1612 Fixed, preconfigured PDO mapping object for "Cyclic sync velocity mode (csv)"
0x1603 0x1613 Fixed, preconfigured PDO mapping object for "Velocity mode (vl)"
0x1604 0x1614 Fixed, preconfigured PDO mapping object for "Touch probe (TP)"
0x1605 0x1615 Freely configurable PDO mapping object
0x1606 0x1616 Fixed, preconfigured PDO mapping object for torque limit values
TPDO mapping – configuration of process data (actual values) from the i700 servo inverter to the controller
0x1A00 0x1A10 Fixed, preconfigured PDO mapping object for "Cyclic sync position mode (csp)"
0x1A01 0x1A11 Fixed, preconfigured PDO mapping object for "Cyclic sync torque mode (cst)"
0x1A02 0x1A12 Fixed, preconfigured PDO mapping object for "Cyclic sync velocity mode (csv)"
0x1A03 0x1A13 Fixed, preconfigured PDO mapping object for "Velocity mode (vl)"
0x1A04 0x1A14 Fixed, preconfigured PDO mapping object for "Touch probe (TP)"
0x1A05 0x1A15 Freely configurable PDO mapping object
3.2.1 Synchronisation with "Distributed clocks" (DC)
The "Distributed clocks" (DC) function enables an exact time adjustment for applications where
several auxiliary axes carry out a coordinated movement at the same time. The data is accepted
synchronously with the PLC program. In the case of the DC synchronisation, all slaves are
synchronised with a reference clock, called the "DC master".

Here you will find some detailed information about DC synchronisation.
3.3 Parameter data transfer (SDO communication)
________________________________________________________________
In addition to the cyclic process data transfer, parameter data can be transferred as so-called SDOs
(Service Data Objects) in a non-cyclic manner within an individual datagram between the controller
(master) and the servo inverters (slaves).
• SDO communication is implemented according to the EtherCAT-CoE protocol, using a mailbox.
• SDO communication enables read or write access to all indices contained in the object directory
of the i700 servo inverter.
• The turnaround time for an SDO (request by the control, transport via the bus, processing in the
drive, transport of the response back to the control) is between 1 ms and 100 ms plus 2 * bus
cycle time (typically 10 ms).
3.3.1 Object directory
The object directory contains the specific indices for all axes. The object directory is structured
according to specifications of the EtherCAT Technology Group (ETG):
Range Index area

Device Axis A Axis B
Communication Area 0x1000 - 0x1FFF
Identification data 0x1000 - 0x1018 - -
Sync manager 0x1C00 - 0x1C33 - -
PDO mapping - 0x1600 - 0x1606 0x1610 - 0x1616
0x1A00 - 0x1A05 0x1A10 - 0x1A15
Manufacturer specific area 0x2000 - 0x5FFF
Device settings 0x2000 - 0x27FF - -
Axis identification - 0x2800 - 0x281F 0x3000 - 0x301F
Axis control - 0x2820 - 0x283F 0x3020 - 0x303F
Error management - 0x2840 - 0x28FF 0x3040 - 0x30FF
Motor control & motor settings - 0x2900 - 0x2CFF 0x3100 - 0x34FF
Touch probe - 0x2D00 - 0x2D3F 0x3500 - 0x353F
Monitoring functions - 0x2D40 - 0x2D7F 0x3540 - 0x357F
Diagnostics - 0x2D80 - 0x2DBF 0x3580 - 0x35BF
Service/internal - 0x2DC0 - 0x2E3F 0x35C0 - 0x363F
Reserved - 0x2E40 - 0x2FFF 0x3640 - 0x37FF
CiA402 profile specific area 0x6000 - 0xDFFF
Device profile CiA402 - 0x6000 - 0x67FF 0x6800 - 0x6FFF
________________________________________________________________
3.3.2 SDO abort codes (Abort codes)
If an SDO request is evaluated negatively, a corresponding abort code is output:
SDO abort code Description

0x0000 0000 No error
0x0503 0000 The status of the toggle bit has not changed.
0x0504 0000 SDO protocol time-out
0x0504 0005 The space in the main memory is not sufficient.
0x0601 0000 Access to object not supported.
0x0601 0001 Read access to a write-protected object.
0x0601 0002 Write access to a write-protected object.
0x0602 0000 An object does not exist in the object directory
0x0604 0041 An object cannot be mapped into the PDO
0x0604 0042 The number and/or length of the objects mapped would exceed the PDO length
0x0604 0043 General parameter incompatibility
0x0604 0047 General internal device incompatibility
0x0606 0000 Access has failed due to a fault in the hardware
0x0607 0010 The data type or the parameter length does not correspond
0x0607 0012 Incorrect data type (The parameter length is too large)
0x0607 0013 Incorrect data type (The parameter length is too small)
0x0609 0011 A subindex is not available
0x0609 0030 The value range for parameters is too great (only for write access)
0x0609 0031 The parameter value is too high
0x0609 0032 The parameter value is too low
0x0800 0000 General error
0x0800 0020 Data cannot be transferred or saved to the application.
0x0800 0021 Data cannot be transferred or saved to the application because of local control.
0x0800 0022 Due to the current device state, data cannot be transferred to the application or stored in the
application
3.3.3 ESI: EtherCAT Slave Information file (device description)
The EtherCAT Slave Information file (EtherCAT Device Description file) contains all information
about the device (operating modes, parameters, …).
• The EtherCAT Slave Information file is integrated by the EtherCAT network configuration tool in
order to be able to configure and commission the devices.
• Part of the information contained in the EtherCAT Slave Information file can be uploaded online
by the EtherCAT master by accessing the EtherCAT EEPROM of the device. The description of the
object directory can also be identified online.
3.4 Activating the control via PDO
________________________________________________________________
3.4 Activating the control via PDO
0x2824 | 0x3024 - Device control via PDO: Activation
This object serves to switch off all RPDOs (from the device's point of view) so that the device is exclusively controlled
via SDOs.
• This is, for instance, required for manual enable of commissioning functions and test modes via the (0x6040
control word 0x6840 for axis B). Enable/inhibit via control word
Selection list (Lenze setting printed in bold)

0 Off
1 Activate
 Write access  CINH  OSC  P  RX  TX UNSIGNED_8
3.5 Lenze control and status word
0x2830 | 0x3030 - Lenze control word
Via the Lenze control word, the control functions can be influenced.
Setting range (min. value | unit | max. value) Lenze setting

0x0000 0xFFFF 0x0000
Value is bit-coded: ( = bit set) Info
Bit 0  Flying restart: Completed Via this bit, the control reports the acceptance of the
speed found to the "Flying restart" function. The flying
restart process is now completed.
Bit 1  Flying restart: Blocked "1" ≡ Block flying restart process
Bit 2  Reserved
Bit 3  Reserved
Bit 4  Speed controller: Load I component "1" ≡ Set starting value of the torque
• In case of servo control, this corresponds to the I
component of the speed controller, in case of V/f
operation to the modulation of the slip
compensation.
• As long as this bit is set to "1", the I component and
the slip compensation are set to the starting value set
in 0x2902 (or 0x3102 for axis B).
Bit 5  Position: Select new actual position "1" ≡ Set/relatively shift actual position
• Axis A: Set the actual position (0x6064) under
consideration of the set resolution (0x608F) to the
value set in 0x2983 (0x2984 = 0), or shift it by the
value set in 0x2983 (0x2984 = 1).
• Axis B: Set the actual position (0x6864) under
consideration of the set resolution (0x688F) to the
value set in 0x3183 (0x3184 = 0), or shift it by the
value set in 0x3183 (0x3184 = 1).
Bit 6  Activate DC-injection braking or "1" ≡ Trigger DC-injection braking for asynchronous
short-circuit braking motor or short-circuit braking for synchronous motor
Bit 7  Velocity and position monitoring -
deactivated
Bit 8-15  Reserved
 Write access  CINH  OSC  P  RX  TX UNSIGNED_16
________________________________________________________________
0x2831 | 0x3031 - Lenze status word
In the Lenze status word, messages are combined that go beyond the CiA specification.

0x0000 0xFFFF
Value is bit-coded: Info
Bit 0 Position controller: In limitation Position mode: Output of the position controller in
limitation
Bit 1 Speed: Limited speed setpoint 1 Input of speed controller 1 in limitation
Bit 2 Speed controller: In limitation Output of speed controller 1 in limitation
Bit 3 Torque: Limited target torque Target torque in limitation
Bit 4 Motor: Limited current setpoint Setpoint current in limitation
Bit 5 Speed: Limited speed setpoint 2 Torque mode: Input of speed controller 2 in limitation
Bit 6 Upper speed limit is active Torque mode: Speed is limited to the upper speed limit
(0x2946:1 or 0x3146:1 for axis B)
Bit 7 Lower speed limit is active Torque mode: Speed is limited to the lower speed limit
(0x2946:2 or 0x3146:2 for axis B)
Bit 8 Flying restart in progress ... V/f operation: "Flying restart process" function is active
Bit 9 Flying restart: Ready for operation V/f operation: "Flying restart process" function has
acquired speed
Bit 10 Limited output frequency Setpoint frequency in limitation
Bit 11 Asynchronous motor magnetised In case of servo control for synchronous motor (SM):
• Bit is always set.
In case of servo control for asynchronous motor (ASM):
• Bit is set if the difference between setpoint and actual
flux is smaller than 10 % of setpoint flux.
• Bit is reset if the difference has increased to 15 % of
setpoint flux.
In case of V/f operation:
• Bit is set if the rotor time constant has been passed
seven times, calculated from the time the controller
has been enabled and no restart on the fly has been
active and the total motor current has reached 20 %
of the rated motor current for the first time.
Otherwise 0.
Bit 12 Motor phase failure detection in Motor phase failure detection is active
progress ...
Bit 13 Feedback: Open circuit Position feedback is interrupted
Bit 14 Delay time: 'Reset error' is active The error cannot be reset before the delay time has
expired. The remaining delay time is displayed in 0x2840
(or 0x3040 for axis B).
Bit 15 Clamp is active V/f operation: Clamp (short-time inhibit of the inverter)
is active
 Write access  CINH  OSC  P  RX  TX UNSIGNED_16
0x2833 | 0x3033 - Lenze statusword 2
From version 01.03
________________________________________________________________

0x0000 0xFFFF
Bit 0 Feedback modification Changes in the settings of the feedback system have
been executed. The status bit is reset at controller
enable.
Bit 1 Manual test mode active A manual test mode is active
(0x2825 or 0x3025 = 1, 2 or 3)
Bit 2 Manual control mode active Manual control mode is active
(0x2825 or 0x3025 = 4)
Bit 3 Angle tracking control: Active Reserved
Bit 4 Absolute value encoder selected From version 01.06
Absolute feedback system selected (parameterised)
• In case of the "resolver" device variant, this bit is set if
the resolver pole pair number "1" is set in 0x2C43 (or
0x3443 for axis B).
• In case of the "encoder" device variant, this bit is set if
the encoder type "2: Hiperface absolute value
encoder" is set in 0x2C40 (or 0x3440 for axis B).
Bit 5 Absolut position available From version 01.06
Initialisation of the selected feedback system is
completed. All information of the feedback system have
been transmitted.
• In case of an error in the feedback system, this bit is
set to "0" as long as the error exists.
Bit 6 DC-injection braking or short-circuit From version 01.06
braking: Active DC-injection braking for asynchronous motor or short-
circuit braking for synchronous motor is active
Bit 7 Value for angular drift is not valid From version 01.06
Value of the angular drift in 0x2C42 is not valid due to
communication faults.
Bit 8-15 Reserved
3.6 Ethernet over EtherCAT (EoE)
________________________________________________________________
From version 01.05, the i700 servo inverter supports the "Ethernet over EtherCAT (EoE)" protocol.
The "Ethernet over EtherCAT (EoE)" protocol serves to send standard Ethernet telegrams via the
EtherCAT network without the real-time communication of the EtherCAT process data being
affected.
This extension allows for establishing a parameter communication (SDO communication) with the
Servo-Inverters i700 on the EtherCAT bus via a standard Ethernet connection (e.g.from a PC with
»EASY Starter«).
3.6.1 System architecture
The following illustration shows the system architecture for an EtherCAT network with EoE nodes.
This network provides access per PC with »EASY Starter« via two interfaces:
A. Access via an Ethernet-Switchport terminal (e.g. Beckhoff EL6614)
B. Access via control (e.g. Beckhoff CX1020)
For this purpose, the control has to support IP routing and the "EoE Endpoint to Operating
Systems" functionality according to the "ETG.1500 master classes" specification.
EtherCAT bus EtherCAT bus EtherCAT bus
EtherCAT EtherCAT EtherCAT EtherCAT EtherCAT
EtherCAT
OS EtherCAT Master EtherCAT Mailbox
Ethernet over EtherCAT (EoE)
Ethernet Driver
Ethernet
EoE
Virtual switch
esdcp (Lenze) DHCP Client
Switch
TCP/IP Stack
Terminals
(e.g. Beckhoff EL6614)
EoE Endpoint to Sockets
Operating Systems
GCI Services GCI Services
(read/write files) (read/write parameter)
Controller
Ethernet (e.g. Beckhoff CX1020) Ethernet Ethernet
Virtual File System Object Dictionary

EA EA
Sta SY Sta SY
rter i700 servo inverter rter
Engineering Global Engineering

PC Network PC
(DHCP Server)
[3-1] System architecture for an EtherCAT network with EoE nodes
The IP address allocation in the network can both be made statically by the EtherCAT master via
configuration and via a higher-level infrastructure which can be connected to the Ethernet
Switchport terminal.
The PC used for diagnostic purposes can get the IP address via the Ethernet Switchport terminal if
this supports a DHCP server or BOOTP mechanism or it must feature a statically allocated IP itself in
the same subnetwork.
________________________________________________________________
3.6.2 Supported protocols and services
• ARP
• DHCP Client
• ESDCP
• ICMP (ping)
• IP
• UDP/TCP
• GCI-SDO communication (TCP port 9410)
3.6.3 Display of EoE-specific information
The following object serves to read out the EoE-specific information for diagnostic purposes.
0x2020 - EoE information
From version 01.05

• The subcodes 1 ... 6 display the IP and Ethernet settings configured by the control during initialisation.
• The subcodes 7 and 8 display the traffic via EoE in Rx and Tx direction. The displayed values can be reset to "0" by
entering any value.
Sub. Name Lenze setting Data type

1 Virtual MAC address STRING(32)
2 IP address STRING(32)
3 Subnet mask STRING(32)
4 Standard gateway STRING(32)
5 DNS server STRING(32)
6 DNS name STRING(50)
7 Data packets received UNSIGNED_32
8 Data packets transmitted UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX
________________________________________________________________
3.6.4 GCI-SDO communication (TCP port 9410)
The TCP port 9410 serves to establish a parameter communication with the i700 servo inverter. The
PC (client) used for parameter setting and the i700 servo inverter (server) communication with each
other by exchanging data via the Ethernet telegrams which are fed into the cyclic EtherCAT
telegrams (see also System architecture).
• The parameter data of the i700 servo inverter are stored in "objects". The objects serves, for
instance, to set operating parameters and motor data or query diagnostic information.
• The parameter data are transmitted as SDOs (Service Data Objects) and confirmed by the
receiver, i.e. the transmitter receives a feedback whether the transmission was successful.
• The transmission of the parameter data usually is not time-critical.
• The parameter communication enables the writing and reading access to the object directory of
 Note!
• Only one communication connection at a time is possible via the TCP port 9410, i.e.
only one client at a time can be connected to the i700 servo inverter.
• In case of a writing access to parameter data, make sure that the changes made are
not automatically saved in the i700 servo inverter.
The »EASY Starter« serves to upload the parameters of the i700 servo inverter and
save them as a file. This file can then be imported to the Engineering tool (e.g. »PLC
Designer«).
________________________________________________________________
3.6.4.1 Structure of the EtherCAT data telegram

The GCI protocol is used for communication.
The EtherCAT data telegram is shown below. Here, the GCI header represents the part of the
program that is independent of the type of command transmitted.
EtherCAT TCP/IP EtherCAT

Header
IP Header
Header GCI Header P0 ... P4
Footer
GMT GSV GMQ GTI SIZE SIZE res res
[3-2] Structure of the GCI header within the EtherCAT frame
Field Size Description

GMT 1 byte GCI message type
0x01 Reserved
GSV 1 byte GCI service identification
0x82 Read parameters
0x83 Write parameters
GMQ 1 byte GCI message qualifier
Bit 7 rsp (Request/Response)
0 Request
1 Response
Bit 6 a (Abort)
0 Data transfer OK
1 Abort of the data transfer
• The transfer is either aborted by the client or the server of a
parameter data telegram.
• A message is aborted without any confirmation. If the client waits
for its message to be confirmed, it will receive the abort notice
instead.
Bit 5 ... bit 0 res (reserved)
0b000000 Data contents = 0
GTI 1 byte GCI transaction ID
0x00 Serial number (transaction identification)
... • For each client a definite serial number (0 ... 255) is allocated.
• The serial number in the multitasking environment is used for
0xFF referencing to the calling tasks (reverse transaction).
SIZE 2 bytes Length of the user data
• The user data area or the data telegram contains the parameter data.
Assignment of user data areas P0 ... P4
0x14 20 bytes
... ...
0x114 276 bytes
res 2 bytes Reserved
0x0000 Data contents = 0
________________________________________________________________
Read parameters
The service identification (GSV) = 0x82 in the GCI header serves to read parameter data from the
i700 servo inverter:
Client Server
(PC) (i700)
Request
Request  GMT GSV GMQ GTI SIZE SIZE res res User data  Indication
0x01 0x82 0x00 0xXX 0xXX 0xXX 0x00 0x00
Answer
Confirmation  GMT GSV GMQ GTI SIZE SIZE res res User data  Response
0x01 0x82 0x80 0xXX 0xXX 0xXX 0x00 0x00 (error code)
Write parameters
The service identification (GSV) = 0x83 in the GCI header serves to write parameter data to the i700
servo inverter:
Client Server
(PC) (i700)
Request
Request  GMT GSV GMQ GTI SIZE SIZE res res User data  Indication
0x01 0x83 0x00 0xXX 0xXX 0xXX 0x00 0x00
Answer
Confirmation  GMT GSV GMQ GTI SIZE SIZE res res User data  Response
0x01 0x83 0x80 0xXX 0xXX 0xXX 0x00 0x00 (error code)
________________________________________________________________
3.6.4.2 Assignment of user data areas P0 ... P4
Range Byte 1 Byte 2 Byte 3 Byte 4

P0 Status/error code Data type Reserved
P1 Index Reserved Reserved
P2 Subindex Reserved Reserved*
P3 Parameter value
P4 Parameter value
* When the data type VISIBLE_STRING is transmitted, byte 4 contains the number of the characters attached.
Data type in P0 / byte 3
ID Data type Data length

0x01 INTEGER_8 1 byte
0x02 INTEGER_16 2 bytes
0x05 UNSIGNED_8 1 byte
0x06 UNSIGNED_16 2 bytes
0x09 FLOATING_POINT 4 bytes
0x0A VISIBLE_STRING max. 256 bytes
0x0B OCTET_STRING max. 256 bytes
Parameter value in P3 and P4

Depending on the data type, the parameter value assigns 1 ... 8 bytes. The data is stored in the Little-
Endian format, i.e. first the low byte or low word, then the high byte or high word:
Data length Data area P3 Data area P4

of parameter value
Byte 1 Byte 2 Byte 3 Byte 4 Byte 1 Byte 2 Byte 3 Byte 4
1 byte Value 0x00 0x00 0x00 0x00 0x00 0x00 0x00
2 bytes Low byte High byte 0x00 0x00 0x00 0x00 0x00 0x00
Value
4 bytes Double word 0x00 0x00 0x00 0x00

Low word High word
Low byte High byte Low byte High byte
Value
8 bytes Lower-order double word Higher-order double word

Low word High word Low word High word
Low byte High byte Low byte High byte Low byte High byte Low byte High byte
Value
________________________________________________________________
3.6.4.3 Error codes

The error code is located in the User data area P0, byte 1 and byte 2.
User data area P0

Byte 1 Byte 2 Byte 3 Byte 4
Error code Data type Reserved
Example error code 0x9002
Low byte High byte
0x02 0x90
 Note!
The other user data contents correspond to those of an error-free message.
Possible error codes
Error code Definition Description

Decimal hex
33803 0x840B Invalid type Invalid parameter type
33804 0x840C Limit violation Invalid parameter value
33806 0x840E Unknown parameter Invalid parameter index
33812 0x8414 Invalid size Invalid parameter format
33813 0x8415 Not in select list Parameter is not in the selection list
33814 0x8416 Read not allowed Parameter read is not allowed
33815 0x8417 Write not allowed Parameter write is not allowed
33816 0x8418 CINH not set Controller inhibit is not set
33829 0x8425 Invalid subindex Invalid parameter subindex
33837 0x842D Access not allowed Parameter access not allowed
36873 0x9009 Wrong GMT received The general telegram identification does not correspond
to the GCI communication.
36874 0x900A Unknown server request Internal error in the GCI
36878 0x900E SRV timeout
________________________________________________________________
3.6.4.4 Telegram example 1: Querying the heatsink temperature (read request)

The heatsink temperature of the i700 servo inverter is to be read.
• Object to be read: 0x2D84:1
• Assumption: ϑ = 43°C
Request
• SDO command (GSV) = 0x82 = "Read parameter"
• GCI Message Qualifier (GMQ) = 0x00 = 0b00000000 = "Request"
• Transaction ID (GTI) here "0" (optional consecutive number 0 ... 255)
• Length of the user data (SIZE) = 0x0014 = 20 bytes
GCI header
0x01 0x82 0x00 0x00 0x14 0x00 0x00 0x00
Fixed Read Request Transactions ID Length of the user data = 20 bytes Reserved
parameters
User data area P0

Reserved Data type Reserved
0x00 0x00 0x00 0x00
Optional for
read request
User data area P1 User data area P2

Index Reserved Subindex Reserved
0x84 0x2D 0x00 0x00 0x01 0x00 0x00 0x00
Index = 0x2D84 Subindex = 1

Reserved Reserved
0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00
________________________________________________________________
Answer
GCI Message Qualifier (GMQ) = 0x80 = 0b10000000 = "Response"
GCI header
0x01 0x82 0x80 0x00 0x14 0x00 0x00 0x00
Fixed Read Response Transactions ID Length of the user data = 20 bytes Reserved
parameters
User data area P0

0x00 0x00 0x02 0x00
INTEGER_16

0x84 0x2D 0x00 0x00 0x01 0x00 0x00 0x00
Index = 0x2D84 Subindex = 1

Parameter value Reserved
0xAE 0x01 0x00 0x00 0x00 0x00 0x00 0x00
Read value = 0x01AE
= 430 = 43.0 [°C]
________________________________________________________________
3.6.4.5 Telegram-example 2: Querying the software version of the i700 (read request)
The software version of the i700 servo inverter is to be read.
• Object to be read: 0x100A
• Assumption: Software version = "1.5.0.9999 (release)"
Request
• SDO command (GSV) = 0x82 = "Read parameter"
GCI header
0x01 0x82 0x00 0x01 0x14 0x00 0x00 0x00
Fixed Read Request Transactions ID Length of the user data = 20 bytes Reserved
parameters
User data area P0

0x00 0x00 0x00 0x00
Optional for
read request

0x0A 0x10 0x00 0x00 0x00 0x00 0x00 0x00
Index = 0x100A No subindex

Reserved Reserved
0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00
________________________________________________________________
Answer
• GCI Message Qualifier (GMQ) = 0x80 = 0b10000000 = "Response"
• Length of the user data =
20 bytes of standard user data area P0 ... P4 plus
21 bytes of attached string (incl. \0 termination) = 41 bytes
GCI header
0x01 0x82 0x80 0x01 0x29 0x00 0x00 0x00
Fixed Read Response Transactions ID Length of the user data = 41 bytes Reserved
parameters
User data area P0

0x00 0x00 0x0A 0x00
VISIBLE_STRING

0x0A 0x10 0x00 0x00 0x00 0x00 0x00 0x00
Index = 0x100A No subindex

Reserved Reserved
0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00
 Note!
The read parameter value of data type VISIBLE_STRING (here: "1.5.0.9999 (release)")
follows subsequent to the standard user data area.
________________________________________________________________
3.6.4.6 Telegram example 3: Setting the LV warning threshold in the i700 (write request)
The warning threshold for the low-voltage detection (LV) is to be set in the i700 servo inverter to
400 V.
• Object to be written: 0x2540:2
Request
• SDO command (GSV) = 0x83 = "Write parameter"
GCI header
0x01 0x83 0x00 0x2A 0x14 0x00 0x00 0x00
Fixed Write Request Transactions ID Length of the user data = 20 bytes Reserved
parameters
User data area P0

0x00 0x00 0x06 0x00
UNSIGNED_16

0x40 0x25 0x00 0x00 0x02 0x00 0x00 0x00
Index = 0x2540 Subindex = 2

0x90 0x01 0x00 0x00 0x00 0x00 0x00 0x00
Value to be written = 0x0190
= 400 [V]
________________________________________________________________
Answer
GCI Message Qualifier (GMQ) = 0x80 = 0b10000000 = "Response"
GCI header
0x01 0x83 0x80 0x2A 0x14 0x00 0x00 0x00
Fixed Write Response Transactions ID Length of the user data = 20 bytes Reserved
parameters
User data area P0

0x00 0x00 0x06 0x00
UNSIGNED_16

0x40 0x25 0x00 0x00 0x02 0x00 0x00 0x00
Index = 0x2540 Subindex = 2

0x90 0x01 0x00 0x00 0x00 0x00 0x00 0x00
Written value (reflected)
4 Device settings
4.1 Behaviour in case of error
________________________________________________________________
4 Device settings

0x10F1 ECAT: Behaviour in case of error RECORD
0x2000 Device: Data RECORD
0x2001 Device: Name STRING(128)
0x2021 Device: Optical recognition RECORD
0x2022 Device command UNSIGNED_32
0x2100 Brand protection INTEGER_32
0x2540 Device: Voltage values RECORD
0x2580 ECAT DC: Real-time information RECORD
The i700 servo inverter features three different EtherCAT monitoring modes:
• Sync0 monitoring when DC mode is used
• PDO frame failure detection when DC mode is used
• Monitoring to EtherCAT line interruption
Sync0 monitoring when DC mode is used

This monitoring mode checks whether the Sync0 Signals are generated at the correct time in the
i700 servo inverter if the "Distributed Clock mode" (DC mode) has been selected and the i700 servo
inverter is in the "Operational" status.
• If no Sync0 signals arrive anymore during double the Sync0 cycle time, the i700 servo inverter
changes to the "Safe-Operational" status and triggers an error (CiA402 error code 0x8700). 0x32
is returned as bus status (AL status code).
• After "Pre-Operational" has changed to "Safe-Operational", the generation of Sync0 pulses has
to be started within 5 seconds. If this is not the case, or if a change from "Safe-Operational" to
"Operational" is requested without the signals being generated accordingly, this error is
triggered as well.
• This monitoring mode cannot be configured.
PDO frame failure detection when DC mode is used

This monitoring mode checks whether an EtherCAT-PDO telegram (Sync Manager 2 Event) has
arrived between two Sync0 signals if the "Distributed Clock mode" (DC mode) has been selected. For
this purpose, the i700 servo inverter is provided with an internal frame failure error counter which
is increased by the value "3" in case of a frame failure. For every PDO received correctly, the error
counter is reduced by the value "1".
This monitoring mode can be configured via the 0x10F1:2 object:
• From version 01.04, monitoring is activated in the Lenze setting (0x10F1:2 = "20").
• If a value higher than "0" is set in 0x10F1:2: If the internal frame failure error counter reaches
the set value, the i700 servo inverter changes to the "Safe-Operational" status and triggers an
error (CiA402 error code 0x8700).
4 Device settings
________________________________________________________________
 Tip!
It is reasonable to set a value ≥"4" in 0x10F1:2 to tolerate a failed PDO and prevent two PDO
failures in a row.
The following table lists some possible settings:
Permitted PDO failures in a row Monitoring threshold (0x10F1:2)

0 1 ... 2
1 4 ... 5
2 7 ... 8
3 10 ... 11
From version 01.02, an extrapolator is available in the i700 servo inverter for the motor control
which can extrapolate the setpoints for one cycle. If two PDO frames fail in a row, no extrapolation
takes place anymore. The last value is frozen.
Monitoring to EtherCAT line interruption

This monitoring mode generally checks whether there is an EtherCAT line interruption.
• If this is the case, the i700 servo inverter changes to the "Safe-Operational" status and triggers
an error (CiA402 error code 0x8181).
• This monitoring mode cannot be configured and functions with and without "Distributed Clock
mode" (DC mode).
0x10F1 - ECAT: Behaviour in case of error
Response of the device in the event of an error

1 Local Error Reaction 2: Device-specific status UNSIGNED_32
2 Synchronisation: Error threshold 20 UNSIGNED_32
Subindex 1: Internal device response

Selection list (Lenze setting printed in bold) Info
2 Device-specific status An error response is carried out by the i700 servo inverter
only.
 Write access  CINH  OSC  P  RX  TX UNSIGNED_32
Subindex 2: Synchronisation: Error threshold

Setting for PDO frame failure detection
• If the internal frame failure error counter reaches the value set here, the Servo-Inverter i700 changes to the
"Safe-Operational" status and triggers an error (CiA402 error code 0x8700).
• From version 01.04, the PDO frame failure detection is activated in the Lenze setting "20".
0 32 20
 Write access  CINH  OSC  P  RX  TX UNSIGNED_32
4 Device settings
4.2 Device identification data
________________________________________________________________
4.2 Device identification data
0x2000 - Device: Data
Type code (Lenze ID), serial number and manufacturing date of the device

1 Device: Product designation STRING(50)
2 Device: Serial number STRING(50)
3 Device: Manufacturing date STRING(50)
0x2001 - Device: Name
Any device name (e.g. "Wheel drive") can be set in this object for the purpose of device identification.
 Write access  CINH  OSC  P  RX  TX STRING(128)
0x2100 - brand protection

1 Brand protection: set pin 0 INTEGER_32
2 Brand protection: enter pin 0 INTEGER_32
3 Brand protection: encryption 0 UNSIGNED_8
Subindex 1: Brand protection: Set pin

-1 9999999 0
 Write access  CINH  OSC  P  RX  TX INTEGER_32
Subindex 2: Brand protection: Enter pin

-2 9999999 0
 Write access  CINH  OSC  P  RX  TX INTEGER_32
Subindex 3: Brand protection: Encryption

0 9 0
4 Device settings
4.3 Function "Optical device recognition"
________________________________________________________________
4.3 Function "Optical device recognition"
0x2021 - Device: Optical recognition
In the case of applications with multiple interconnected servo inverters it may be difficult to locate a device that has
been connected online. The "Optical device recognition" function serves to locate the Servo-Inverter i700 by means
of blinking LEDs.
• A setting of "1: Start" in subindex 1 activates the function:
• The two LEDs "RDY" and "ERR" on the front of the i700 servo inverter will blink for the time period set in
subindex 2 with a blinking frequency of 20 Hz. Then the function is deactivated automatically.
• The LEDs on the RJ45 sockets are not used for this function.
• If the function is reactivated within the time set, the time is extended correspondingly.
• With the setting "0: Stop" in subindex 1 the function can be aborted/deactivated prematurely.

1 Start optical recognition 0: Stop UNSIGNED_8
2 Optical recognition: Blinking time 5s UNSIGNED_16
Subindex 1: Start optical recognition

0 Stop
1 Start
Subindex 2: Optical recognition: Blinking time

0 s 6000 5 s
4.4 Device commands
 Note!
The execution of a device command may lead to an interruption of the EtherCAT
communication with the master and to a standstill of the axis!
0x2022 - Device command

0 No command
1000 Load Lenze setting Load default parameter set
1100 Restart device Device restart
4 Device settings
4.5 Monitoring of the DC-bus voltage
________________________________________________________________
For the device as a whole, the DC-bus voltage is monitored with regard to undervoltage and
overvoltage.
Monitoring of the warning thresholds

The warning thresholds for the monitoring are adjustable and preset for a rated mains voltage of
400 V in the Lenze setting.
Voltage monitoring of the warning thresholds is active in the "Ready to switch on", "Switched on",
"Operation enabled", and "Quick stop active" device states.
Monitoring of the error thresholds

• Up to and including version 01.06, the error monitoring function is active in the "Ready to switch
on", "Switched on", "Operation enabled", and "Quick stop active" device states.
• From version 01.07 onwards, voltage monitoring of the error thresholds is active in the
"Operation enabled" and "Quick stop active" device states.
The error thresholds for the monitoring process are determined on the basis of the rated mains
voltage set:
Mains Undervoltage thresholds Overvoltage thresholds

Rated Warning threshold Error threshold Threshold "Reset Warning threshold Error threshold Threshold "Reset
voltage 0x2540:2 0x2540:3 error" 0x2540:5 0x2540:6 error"
0x2540:1 0x2540:4 0x2540:7
0: 230 Veff 430 V 200 V 225 V 795 V 800 V 790 V

1: 400 Veff 285 V 430 V 800 V 790 V
2: 480 Veff 490 V 535 V 800 V 790 V
4: 60 V *) 10 V 15 V 60 V 50 V
10: 230 Veff 50 V 100 V 800 V 790 V
Reduced LU
threshold
11: 400 Veff 50 V 200 V 800 V 790 V

Reduced LU
threshold
12: 480 Veff 50 V 250 V 800 V 790 V

Reduced LU
threshold
Greyed out = read access only or threshold specified
*)
Only permissible for setting up a system! For all other operating states, this rated voltage is impermissible.
0x2540 - Device: Voltage values

1 Mains: Rated voltage 1: 400 Veff UNSIGNED_8
2 Undervoltage (LU): Warning threshold 430 V UNSIGNED_16
3 Undervoltage (LU): Error threshold 285 V UNSIGNED_16
4 Undervoltage (LU): Threshold 'Reset error' 430 V UNSIGNED_16
5 Overvoltage (OU): Warning threshold 795 V UNSIGNED_16
6 Overvoltage (OU): Error threshold 800 V UNSIGNED_16
7 Overvoltage (OU): Threshold 'Reset error' 790 V UNSIGNED_16
8 DC-bus voltage is critical UNSIGNED_8
4 Device settings
________________________________________________________________
Subindex 1: Mains: Rated voltage

Selection of the mains voltage used with which the i700 servo inverter is operated.
0 230 Veff
1 400 Veff
2 480 Veff
3 Reserved
4 60 V (setting-up operation)
10 230 Veff - low undervoltage threshold
Subindex 2: Undervoltage (LU): Warning threshold

Warning threshold for monitoring with regard to undervoltage
• If the DC-bus voltage of the i700 servo inverter falls below the threshold value set here, the device reports a
warning. Reset is effected with a hysteresis of 10 V.
0 V 800 430 V
Subindex 3: Undervoltage (LU): Error threshold

Display of the error threshold for monitoring with regard to undervoltage
• If the DC-bus voltage of the i700 servo inverter falls below the threshold value shown here, the device reports an
error and the motor module changes to the "Fault" error status. An automatic restart after mains recovery is not
possible.
0 V 800 285 V
 Write access  CINH  OSC  P  RX  TX UNSIGNED_16
Subindex 4: Undervoltage (LU): Threshold 'Reset error'

Display of the error reset threshold for monitoring with regard to undervoltage
0 V 800 430 V
Subindex 5: Overvoltage (OU): Warning threshold

Warning threshold for monitoring with regard to overvoltage
• If the DC-bus voltage of the i700 servo inverter exceeds the threshold value set here, the device reports a
warning. Reset is effected with a hysteresis of 10 V.
0 V 800 795 V
Subindex 6: Overvoltage (OU): Error threshold

Display of the error threshold for monitoring with regard to overvoltage
• If the DC-bus voltage of the i700 servo inverter exceeds the threshold value shown here, the device reports an
error and the motor module changes to the "Fault" error status.
4 Device settings
________________________________________________________________
Subindex 6: Overvoltage (OU): Error threshold

0 V 800 800 V
Subindex 7: Overvoltage (OU): Threshold 'Reset error'

Display of the error reset threshold for monitoring with regard to overvoltage
0 V 800 790 V
Subindex 8: Critical DC-bus voltage

0 1
 Write access  CINH  OSC  P  RX  TX UNSIGNED_8
Related topics:
24-V supply voltage monitoring ( 251)
4 Device settings
________________________________________________________________
4.5.1 Resetting the "Undervoltage (LU)" error message
Available up to and including version 01.06 !
Operation of the servo inverter can only be enabled if the "Undervoltage (LU)" error message has
been reset after connecting the mains voltage.
Triggering the "Undervoltage (LU)" error message

The "Undervoltage (LU)" error message, 0x2540:2, triggers a fault if the DC-bus voltage is below the
error threshold while the 24 V supply voltage is connected.
This response occurs if
• the DC-bus voltage has not reached the error threshold yet when the system is switched on.
• the DC-bus voltage has fallen below the error threshold when the mains voltage fails.
Available from version 01.07 onwards
The "Undervoltage (LU)" error message can be already reset before the mains voltage is connected.
• The "Undervoltage (LU)" warning that is indicated, 0x2540:3, is reset automatically when the
mains voltage is connected.
 Note!
If the mains voltage is connected, controller inhibit of the servo inverter must be
activated.
Triggering the "Undervoltage (LU)" error message

The "Undervoltage (LU)" error message, 0x2540:2, only triggers a fault if
• the "Operation enabled" or "Quick stop active" device state is to become effective at initital
switch-on.
• the servo inverter is in the "Operation enabled" or "Quick stop active" device state if the mains
voltage fails.
Diagnostics in the master control

If the servo inverter is in the "trouble" device state due to an undervoltage (LU), this state can be
diagnosed in the master control:
• An error bit is set in the status word.
• By output of the error number, an evaluation can be carried out.
• A status bit for undervoltage is set in the CiA status word.
4 Device settings
4.6 Real time information (distributed clock)
________________________________________________________________
0x2580 - ECAT DC: Real-time information
All time information provided in this object is based on UTC and transmitted in the format defined by EtherCAT for
this purpose: In nanoseconds, at a width of 64 bits, based on a date of January 01, 2000, (2000-01-01) and a time of
00:00.
There are various ways for the i700 servo inverter to receive its real-time information from the outside:
• From the (EtherCAT) master (DC synchronous in the EtherCAT state "Safe-Operational" or "Operational").
• By writing to subindex 4 (ECAT DC: Current time).

1 ECAT DC: Status real-time information 0: No real-time information received UNSIGNED_8
yet
2 ECAT DC: Time stamp first real-time UNSIGNED_64
information
3 ECAT DC: Time stamp last real-time UNSIGNED_64
information
4 ECAT DC: Current time UNSIGNED_64
Subindex 1: ECAT DC: Status real-time information

Selection list (read only) Info
0 No real-time information received yet The i700 servo inverter has not yet received any real-time
information from the outside since switch-on.
• The i700 servo inverter is still operating with a time
which is based on the time when the device was
switched off last or which is based on the time stamp
of the firmware (whichever time is later).
1 Receive at least one piece of real-time The i700 servo inverter has at least once received one
information piece of real-time information from the outside since
switch-on.
• The first and the last time the i700 servo inverter has
received real-time information are displayed in
subindices 2 and 3.
2 Synchronous - cyclically updated The i700 servo inverter receives cyclically updated real-
time information from the outside.
• The i700 servo inverter reports this status if it is e.g.
DC synchronous in the EtherCAT state "Safe-
Operational" or "Operational".
Subindex 2: ECAT DC: Time stamp first real-time information

Display of the time when the i700 servo inverter received its first real-time information from the outside since
switch-on.
• In the "No real-time information received yet" status, a value of "0" is displayed.
64
0 ns 2 -1
Subindex 3: ECAT DC: Time stamp last real-time information

Display of the time when the i700 servo inverter received its last real-time information from the outside.
64
0 ns 2 -1
4 Device settings
________________________________________________________________
Subindex 4: ECAT DC: Current time

Display of the time information the i700 servo inverter is currently using (time of the device if you will).
• The contents are updated every time this subindex is read.
• Depending on the status (see subindex 1), this time information is more or less precise:
• In the "No real-time information received yet" status, the clock is generally slow compared to real time. This
may mean weeks or even months if the i700 servo inverter was switched off for a long time.
• In the "Receive at least one piece of real-time information" status, the clock is accurate to the second unless
the time of the last time information (subindex 3) does not date back several days.
• In the "Synchronous - cyclically updated" status, the clock is accurate to the μs with the clock of the higher-
level master.
• Due to the synchronisation with an external master, this clock is also able to go backwards. TwinCAT uses the
PC clock e.g. as its time base!
Setting the time:
• The clock is set by writing a value.
• If the i700 servo inverter is in the "No real-time information received yet" status before the writing process, it
will then change to the "Receive at least one piece of real-time information" status.
• If the i700 servo inverter is in the "Synchronous - cyclically updated" status during the writing process, it will
ignore the written value.
0 ns 264-1
5 Motor control & motor settings
________________________________________________________________

This chapter describes the commissioning of the motor control in a recommended sequence.

Axis A Axis B
Axis control
0x2822 0x3022 Axis command UNSIGNED_32
0x2823 0x3023 Axis command: Progress UNSIGNED_8
0x2825 0x3025 Modes of operation UNSIGNED_8
0x2832 0x3032 Identification: Status word UNSIGNED_16
0x2835 0x3035 Manual test mode: Settings RECORD
0x2836 0x3036 Manual jog: Settings RECORD
Controller settings
0x2900 0x3100 Speed controller: Parameter RECORD
0x2901 0x3101 Speed controller: Gain - adaptation UNSIGNED_16
0x2902 0x3102 Speed controller: Load I component INTEGER_16
0x2903 0x3103 Speed: Speed setpoint - filter time UNSIGNED_16
0x2904 0x3104 Speed: Actual speed - filter time UNSIGNED_16
0x2910 0x3110 Moments of inertia RECORD
0x2939 0x3139 Switching frequency UNSIGNED_8
0x2941 0x3141 Current controller: Feedforward control UNSIGNED_8
0x2942 0x3142 Current controller: Parameter RECORD
0x2943 0x3143 Motor: Current setpoint - filter time UNSIGNED_16
0x2944 0x3144 Torque: Notch filter torque setpoint RECORD
0x2945 0x3145 Torque: Jerk limitation setpoint UNSIGNED_16
0x2947 0x3147 Inverter characteristic: Voltage grid points (y) RECORD
0x2980 0x3180 Position controller: Gain UNSIGNED_32
0x2981 0x3181 Position controller: Gain - adaption UNSIGNED_16
0x2982 0x3182 Position controller: Output signal limitation UNSIGNED_32
0x2983 0x3183 Position: Select new actual position INTEGER_32
0x2984 0x3184 Determine target position: Mode UNSIGNED_8
0x29C0 0x31C0 Field controller: Parameter RECORD
0x29E0 0x31E0 Field weakening controller: Parameter RECORD
0x29E1 0x31E1 Field set value limitation UNSIGNED_16
0x29E2 0x31E2 DC link circuit voltage: Filter time UNSIGNED_16
0x29E3 0x31E3 Motor voltage act. value: Filter time UNSIGNED_16
0x29E4 0x31E4 Voltage reserve UNSIGNED_8
V/f operation
0x2B00 0x3300 VFC: V/f characteristic - shape UNSIGNED_8
0x2B01 0x3301 VFC: V/f characteristic - define reference point RECORD
0x2B02 0x3302 VFC: User-definable V/f characteristic - frequency grid points (x) RECORD
0x2B03 0x3303 VFC: User-definable V/f characteristic - voltage grid points (y) RECORD
0x2B04 0x3304 VFC: Voltage vector control - current setpoint UNSIGNED_32
________________________________________________________________

Axis A Axis B
0x2B05 0x3305 VFC: Voltage vector control parameter RECORD

0x2B06 0x3306 VFC: Voltage boost UNSIGNED_16
0x2B07 0x3307 VFC: Load adjustment - parameter RECORD
0x2B08 0x3308 VFC: Imax controller - parameter RECORD
0x2B09 0x3309 VFC: Slip compensation - parameter RECORD
0x2B0A 0x330A VFC: Oscillation damping - parameter RECORD
0x2B0B 0x330B VFC: Frequency setpoint INTEGER_16
0x2B0C 0x330C VFC: Override point of field weakening INTEGER_16
0x2B80 0x3380 DC-injection braking: Current UNSIGNED_16
0x2BA0 0x33A0 Flying restart: Activate UNSIGNED_8
0x2BA1 0x33A1 Flying restart: Current UNSIGNED_16
0x2BA2 0x33A2 Flying restart: Start frequency INTEGER_16
0x2BA3 0x33A3 Flying restart: Integration time UNSIGNED_16
0x2BA4 0x33A4 Flying restart: Min. deviation UNSIGNED_16
0x2BA5 0x33A5 Flying restart: Delay time UNSIGNED_16
0x2BA6 0x33A6 Flying restart: Result RECORD
Motor settings
0x2C00 0x3400 Motor control UNSIGNED_8
0x2C01 0x3401 Motor: Common parameters RECORD
0x2C02 0x3402 Motor (ASM): Parameter RECORD
0x2C03 0x3403 Motor (SM): Parameter RECORD
0x2C04 0x3404 Motor: Lss saturation characteristic - inductance grid points (y) RECORD
0x2C05 0x3405 Motor: Lss saturation charcteristic - reference for current grid points (x) UNSIGNED_16
0x2C06 0x3406 Motor (SM): Magnet characteristic (current) - grid points RECORD
0x2C07 0x3407 Motor (ASM): Lh saturation characteristic - inductance grid points (y) RECORD
0x2C08 0x3408 Motor: Motor parameter setting method UNSIGNED_8
0x6075 0x6875 Motor rated current UNSIGNED_32
0x6076 0x6876 Motor rated torque UNSIGNED_32
Feedback system
0x2C40 0x3440 Encoder: Type UNSIGNED_8
0x2C41 0x3441 Hiperface: Parameter RECORD
0x2C42 0x3442 Encoder: Parameter RECORD
0x2C43 0x3443 Resolver: Number of pole pairs UNSIGNED_8
0x2C44 0x3444 Resolver error compensation: Parameter RECORD
0x2C45 0x3445 Open circuit in feedback system: Response UNSIGNED_8
0x2C46 0x3446 Feedback system: Specifiable number of revolutions UNSIGNED_16
0x2C5F 0x345F Feedback system: Parameter CRC UNSIGNED_32
Pole position identification
0x2C60 0x3460 Monitoring pole position identification: Response UNSIGNED_8
0x2C61 0x3461 Pole position identification PPI (360°) RECORD
0x2C62 0x3462 Pole position identification PPI (min. movement) RECORD
0x2C63 0x3463 Pole position identification PPI (without movement) RECORD
Advanced settings
0x2DE0 0x35E0 Advanced settings RECORD
5.1 Required commissioning steps (short overview)
________________________________________________________________
The following subchapters provide information on the individual commissioning steps required for
a specific control mode/motor type combination.
5.1.1 Servo control for synchronous motor (SM)
Required commissioning steps

1st Wiring check by means of manual test modes
2nd Setting the control mode
3rd Accepting/adapting plant parameters
4th Setting the motor parameters for the servo control
5th Set motor monitoring:
• Monitoring of the motor utilisation (I²xt)
• Motor temperature monitoring
6. Setting the feedback system for the servo control
7. Only required for other manufacturers' motors:
• Setting and optimising the current controller
• Correction of the stator leakage inductance (Lss)...
• Synchronous motor (SM): Pole position identification
8. Only required for the automatic calculation of the speed controller parameters:
Determining the total moment of inertia
9. Setting the speed controller
10. Setting the position controller
Optional commissioning steps (additional function or fine adjustment)

A. Compensating for inverter influence on output voltage
B. Synchronous motor (SM): Compensating for temperature and current influences
C. Jerk limitation
D. Notch filters (band-stop filters)
E. "Short-circuit braking" function
________________________________________________________________
5.1.2 Servo control for asynchronous motor (ASM)

4th Setting the motor parameters for the servo control
5th Set motor monitoring:
• Monitoring of the motor utilisation (I²xt)
• Motor temperature monitoring
6. Setting the feedback system for the servo control
Setting and optimising the current controller
8. Only required for the automatic calculation of the speed controller parameters:
Determining the total moment of inertia
9. Setting the speed controller
10. Setting the position controller
• Setting the field controller (ASM)
• Setting the field weakening controller (ASM)

A. Compensating for inverter influence on output voltage
B. Correction of the stator leakage inductance (Lss)...
C. Asynchronous motor (ASM): Identifying the Lh saturation characteristic
D. Estimating the optimal magnetising current
E. Jerk limitation
F. Notch filters (band-stop filters)
G. "DC-injection braking" function
________________________________________________________________
5.1.3 V/f characteristic control for asynchronous motor (ASM)

4th Compensating for inverter influence on output voltage
5th Only required if voltage vector control, DC-injection braking, or flying restart process is activated:
Setting and optimising the current controller
6. Defining the V/f characteristic shape
7. Setting the voltage boost
8. Setting the load adjustment
9. Torque increase in the lower speed range ("Boost" function)
10. Defining the behaviour at the current limit (Imax controller)

A. "Flying restart" function
B. "DC-injection braking" function
C. Setting the slip compensation
D. Setting the oscillation damping
5.2 Commissioning functions (short overview)
________________________________________________________________
For a quick commissioning, the i700 servo inverter provides various functions which serve to
automatically calculate and set the parameters. These functions can be executed via the following
object:
0x2822 | 0x3022 - Axis command
Via the cross-reference in the information column, a detailed description of the respective function is provided.

0 No command
1 Inverter characteristic: Load Lenze setting Loading the standard inverter characteristic
2 Estimating the optimal magnetising current Estimating the optimal magnetising current
3 Motor model parameters: Determine from Enter nameplate data and have motor model
motor data by approximation parameters determined automatically
4 Current controller: Calculate controller Calculate current controller parameters
parameters
5 Speed controller: Calculate controller Calculate speed controller parameters
parameters
6 Position controller: Calculate controller Calculate position controller parameters
parameters
7 Field controller: Calculate controller Calculate field controller parameters
parameters
8 Field weakening controller: Calculate Calculate field weakening controller parameters
controller parameters
9 Identify resolver error Determine resolver error
10 VFC: Calculate Imin controller parameters V/f operation: Calculate minimum current controller
parameters
Activate voltage vector control
11 VFC: Calculate Imax controller parameters V/f operation: Calculate current limiting controller
parameters
Defining the behaviour at the current limit (Imax
controller)
12 VFC: Calculate flying restart controller V/f operation: Calculate flying restart controller
parameters parameters
Additional flying restart function
13 Lh saturation characteristic : Load Lenze Load standard Lh saturation characteristic
setting
14 Get Hiperface information from encoder From version 01.03
15 Motor model parameters: Determine Enter nameplate data and have motor model
completely from motor data by approximation parameters determined automatically
0x2823 | 0x3023 - Axis command: Progress
Display of the current progress of the activated commissioning function

0 100 0
________________________________________________________________
0x2825 | 0x3025 - Axis: Operating mode
This object serves to activate different commissioning test modes and procedures for the automatic parameter
identification.
Via the cross-reference in the information column, a detailed description of the respective function is provided.

0 CiA402 mode active Normal operation (CiA402 operating modes active)
CiA402 device profile
1 Manual test mode: Voltage/frequency Test mode "Voltage/frequency"
2 Manual test mode: Current/frequency Test mode "Current/frequency"
3 Manual test mode: Current pulse Test mode "Current pulse"
4 Manual control mode Manual control
5 Pole position identification PPI (360°) Synchronous motor (SM): Pole position identification
6 Pole position identification PPI (min.
movement)
7 Pole position identification PPI (without From version 01.03
movement) Synchronous motor (SM): Pole position identification
8 Identify inverter characteristic Compensating for inverter influence on output
voltage
9 Identify motor parameters Have motor parameters determined by the i700 servo
inverter
10 Identify Lh saturation characteristic Asynchronous motor (ASM): Identifying the Lh
saturation characteristic
11 PRBS excitation
0x2832 | 0x3032 - Identification: Status word
Display of the status of an activated function for automatic parameter identification.

0 65535 0
Bit 0 Enable identification An identification was activated via 0x2825 (or 0x3025
for axis B) with a value > 4.
Bit 1 Identification in progress The identification selected via 0x2825 (or 0x3025 for axis
B) is carried out (changes to 1 after the controller enable).
Bit 2 Identification complete Identification has been completed
Bit 3 Identification failed The identification failed or has been aborted by
controller inhibit.
Bits 4-15 Reserved
 Write access  CINH  OSC  P  RX  TX UNSIGNED_16
________________________________________________________________
5.2.1 Enable/inhibit operation via control word
The operating mode can only be selected in 0x2825 (or 0x3025f or axis B) when operation is
inhibited (pulse inhibit). In order to start the corresponding procedure after the selection, the
operation must be enabled explicitly.
Required steps to enable the operation after an STO:

1. Apply the STO terminals of the axis to 24 V.
2. Use the control word (0x6040 or 0x6840 for axis B) to execute the following commands one
after another:
Command Setting in the control word Notes

Shutdown 6 A changeover from the "Switch on disabled" device
status to the "Ready to switch on" device status takes
place.
Switching on 7 The switch-on inhibit which is active after switch-on or
reset of an error (acknowledgement) is deactivated. A
changeover to the "Switched on" device status takes
place.
Enable operation 15 The operation is enabled and an active quick stop is quit
again. A changeover to the "Operation enabled" device
status takes place.
Access to the control word via SDO access

The control word is part of the standard mapping and is preset in the cyclic interface. In this
configuration, the control word commands have to be initiated by the controller via PDO access. If
this is not possible, for instance, since a manual intervention through the controller is not intended,
it is possible to switch off the control via PDO and carry out the enable via an SDO access:
1. Set the object 0x2824 (or 0x3024 for axis B) to "0: Off" to switch off the control via PDO.
2. An SDO access to the control word (0x6040 or 0x6840 for axis B) serves to execute the
commands given above one after another.
3. After having executed the commands in the object 0x2824 (or 0x3024 for axis B), select
"1: Activate" to re-activate the control via PDO.
Inhibit operation via control word (pulse inhibit)

In order to inhibit the enabled operation without using the STO terminals, use the control word
(0x6040 or 0x6840 for axis B) to execute the following command:
Command Setting in the control word Notes

Disable operation 7 The pulse inhibit is set. When the automatic brake
operation is activated, it is waited for the parameterised
brake closing time until the brake is applied before the
pulse inhibit is set. It is changed back to the "Switched
on" device status.
In this case, a subsequent renewed enable only requires (without using the STO terminals) the
control word command "Enable operation" (setting "15").
________________________________________________________________
5.2.2 Saving changed parameters safe against mains failure
If control parameters are changed during the commissioning phase, e.g. by the functions for
automatic parameter identification, the changed control parameters must be uploaded from the
i700 servo inverter into the controller for permanent storage.
 Note!
Currently, the changed controller parameters cannot be transferred directly into the
object list of the corresponding axis using the »PLC Designer« but only indirectly via the
»EASY Starter« (see the following instructions).
 How to transfer parameters changed in the i700 servo inverter into the PLC project:
In the »EASY Starter«:
1. Upload parameter set and save as Lenze parameter file (*.gdc).

In the »PLC Designer«:
2. Go to the Device view and select the corresponding i700 servo inverter.
3. Go to the Project menu and select the Device parametersImport device parameters
command to import the Lenze parameter file (*.gdc) into the selected device.
4. Save PLC project.
5.3 Wiring check by means of manual test modes
________________________________________________________________
Before the parameterisation of the actual control is started, the wiring of the motor (power and
encoder connection) should be checked for errors and function and, if required, should be corrected.
1. Provided that there is a in-phase motor connection and a positive field frequency (0x2DDD /
0x35DD), the motor shaft rotates clockwise.
2. An existing speed feedback (motor encoder) in the rotor position (0x2DDD / 0x35DD) generates
a numerical value with positive counting direction.
If necessary, take the following measures:
Field frequency Display Measure

0x2DDD / 0x35DD 0x2DDE / 0x35DE
CW 0 ... 2047 none
2047 ... 0 Correct motor cable / encoder cable
CCW 2047 ... 0 none
0 ... 2047 Correct motor cable / encoder cable
3. After controller inhibit via the 0x2825 object (or 0x3025 for axis B), the following test modes are
available for activation:
• Manual test mode "voltage/frequency"
• Manual test mode "current/frequency"
The parameters for the test modes can be adapted via object 0x2835 (or 0x3035 for axis B). For
this, observe the notes in the description of the respective test mode.
0x2835 | 0x3035 - Manual test mode: Settings

1 Manual test mode: Current setpoint 0% INTEGER_16
2 Manual test mode: Frequency 0.0 Hz INTEGER_16
3 Manual test mode: Starting angle 0.0 ° INTEGER_16
Subindex 1: Manual test mode: Setpoint current

Selection of the r.m.s. value of a phase current for test mode
• 100 % ≡ rated motor current (0x6075 or 0x6875 for axis B)
0 % 1000 0 %
 Write access  CINH  OSC  P  RX  TX INTEGER_16
Subindex 2: Manual test mode: Frequency

Selection of the frequency for test mode
Please observe the notes regarding the limitation of the output frequency in the chapters
• Manual jog
• Limitation of the output frequency
-1000.0 Hz 1000.0 0.0 Hz
 Write access  CINH  OSC  P  RX  TX Scaling: 1/10 INTEGER_16
________________________________________________________________
Subindex 3: Manual test mode: Starting angle

Selection of the starting angle for test mode
Note!
In the case of the synchronous motor, a jerky compensating movement occurs after controller enable if the pole
position of this movement does not correspond to the starting angle.
-1000.0 ° 1000.0 0.0 °
 Write access  CINH  OSC  P  RX  TX Scaling: 1/10 INTEGER_16
________________________________________________________________
5.3.1 Manual test mode "voltage/frequency"
Functional description
 Note!
In case of devices that correspond to the "Dual Use Regulation" (EC 428/2009), values of
+ 599 Hz to + 1000 Hz or - 599 Hz to - 1000 Hz do not cause an increase of the output
frequency. Please observe the dead band that occurs in this case.
More information can be found in the section entitled Frequency and speed limitations
( 155).
In this test mode, a rotating field voltage with the set output frequency fout is output at the motor
terminals after controller enable.
• If the frequency selection is positive, the motor should rotate clockwise when one is looking at
the A-side of the motor. If this is not the case, there is a simple rotating movement in the motor
phases.
• The level of the output voltage is determined via the following equation:
Equation for calculating the output voltage
U rated
U out = f out ⋅ ---------------
f rated
Axis A Axis B Symbol Description Dimension unit
0x2D82 0x3582 Vout Current output voltage V

0x2835:2 0x3035:2 fout Output frequency for test mode Hz
Please observe the notes in the "Output frequency" section
of the chapter entitled Frequency and speed limitations
0x2B01:1 0x3301:1 Vrated V/f rated voltage V
0x2B01:2 0x3301:2 frated V/f base frequency Hz
Greyed out = read access only
By means of the manual "Voltage/frequency" test mode, the wiring of the feedback system can also
be checked.
• If the feedback system is set correctly, the following actual speed should be shown:
Equation for calculating the actual speed
f out
n act = ------------------- ⋅ 60
zp motor
0x606C 0x686C nact Velocity actual value rpm

0x2835:3 0x3035:3 fout Output frequency for test mode Hz
0x2C01:1 0x3401:1 zpMotor Motor - number of pole pairs
________________________________________________________________
Preconditions for the execution

• The motor must be able to rotate freely.
• The servo inverter is free of errors and is in the "Switched on" device status.
Response of the motor during the execution

The motor rotates as a function of the set output frequency.
 How to activate the manual test mode "voltage/frequency":

1. If the servo inverter is enabled, inhibit the servo inverter.
Enable/inhibit operation via control word ( 52)
2. Set object 0x2825 (or 0x3025 for axis B) to "1" to change to the "Voltage/frequency" test
mode.
3. Enable the servo inverter to start the test mode.
4. To stop the test mode:
• Inhibit the servo inverter.
• Set object 0x2825 (or 0x3025 for axis B) to "0" to change back to the CiA402 mode.
5.3.2 Manual test mode "current/frequency"
In this test mode, three phase currents are injected in the connected motor after controller enable.
• Via the following objects, the test mode can be adapted:
Object Info Data type

Axis A Axis B
0x2835:1 0x3035:1 r.m.s. value of a phase current INTEGER_16

• Selection in [%] relative to the rated motor current.
0x2835:2 0x3035:2 Frequency INTEGER_16
0x2835:3 0x3035:3 Starting angle INTEGER_16
• The current phase currents can be read via the following objects:
Object Info Data type

Axis A Axis B
0x2D83:1 0x3583:1 Motor current zero system INTEGER_32

0x2D83:2 0x3583:2 Motor current phase U INTEGER_32
0x2D83:3 0x3583:3 Motor current phase V INTEGER_32
0x2D83:4 0x3583:4 Motor current phase W INTEGER_32
Advantages compared to the manual test mode "voltage/frequency":

• The current does not set freely, but is controlled to a defined value.
• If a synchronous motor is connected, the generated torque can be predicted.
________________________________________________________________


The motor rotates as a function of the set output frequency.
 Stop!
In the case of the synchronous motor, a jerky compensating movement occurs after
controller enable if the pole position of this movement does not correspond to the
starting angle.
 How to activate the manual test mode "current/frequency":

2. Set object 0x2825 (or 0x3025 for axis B) to "2" to change to the "Current/frequency" test
mode.
3. Enable the servo inverter to start the test mode.
5.4 Manual control
________________________________________________________________
5.4 Manual control
As an alternative wiring check, the "Manual control" mode can be activated.
The "manual control" modes enables manual operation of the i700 servo inverter via the
Engineering tools »EASY Starter« and »PLC Designer«.
• In the manual control mode both the current and the frequency are run to the set final value via
a parameterisable ramp time. The ramp times constitute the time span during which the
respective parameter is run from zero to the final value.
• In the manual control mode holding brakes, if any, are automatically released. Holding brake
control ( 160)
 Note!
Controlled synchronous motors (SM) can only be traversed under various restrictions:
Restriction 1: The speed variation per control cycle may only be very minor.
• Either make minor changes/leaps of the "Manual jog: Frequency" parameter or select
the "Manual jog: Ramp time - frequency" very high.
Restriction 2: The "Manual jog: Frequency" parameter must be so low that the voltage
range is not left or that the field weakening range is not reached.
• Provide a reserve of approximately 20 % towards the voltage limit. The voltage
requirement is proportional to the speed and thus proportional to the frequency; the
voltage limit is determined by the DC-bus voltage.
• For 400-V motors in combination with a 400-V mains, "voltage range" roughly
describes the range below the rated motor speed.
Restriction 3: The "Manual jog: Setpoint current" parameter must be selected so high
that the friction and load torques of the machine at final speed (= proportional to the
parameter "Manual jog: Frequency") can be overcome.
In case of devices that correspond to the "Dual Use Regulation" (EC 428/2009), values of
+ 599 Hz to + 1000 Hz or - 599 Hz to - 1000 Hz do not cause an increase of the output
frequency. Please observe the dead band that occurs in this case.
More information can be found in the section entitled Frequency and speed limitations
( 155).
5.4 Manual control
________________________________________________________________
Comparison of the test mode "current/frequency" and the "manual control" mode
The following table shows the differences between the two modes:
Test mode "Current/frequency" Mode "Manual control"

Current setpoint is pending immediately after controller Current setpoint is run to the final value via a
enable. parameterisable ramp time after controller enable.
• 100 % ≡ rated motor current (0x6075 or 0x6875 for • 100 % ≡ rated axis current (0x2DDF:1 or 0x35DF:1 for
axis B) axis B)
Axis A Axis B Parameter Axis A Axis B Parameter
0x2835:1 0x3035:1 Current setpoint 0x2836:1 0x3036:1 Current setpoint (final value)
- - (No ramp can be set) 0x2836:3 0x3036:3 Ramp time
Test frequency is pending immediately after controller Test frequency is run up to the final value via a
enable. parameterisable ramp time after controller enable (and
is also run down again). The frequency ramp starts when
the current setpoint has reached its final value.
Axis A Axis B Parameter Axis A Axis B Parameter
0x2835:2 0x3035:2 Test frequency 0x2836:2 0x3036:2 Test frequency (final value)
- - (No ramp can be set) 0x2836:4 0x3036:4 Ramp time
Starting angle is pending immediately after controller Starting angle is the current commutation angle.
enable or the rotating field starts with the starting angle. • For the synchronous motor, therefore no
• In the case of the synchronous motor, a jerky compensating movement should be effected.
compensating movement occurs once if the starting
angle does not correspond to the current pole
position of the synchronous motor.
Axis A Axis B Parameter
0x2835:3 0x3035:3 Starting angle
Duration unlimited. Duration adjustable.
(If permitted by the device utilisation and motor The time starts with the start of the frequency ramp
temperature.) (when the current setpoint has run up to its final value).
• If the test frequency is not rewritten within the time
set for the time monitoring, the frequency is
decreased to zero via the parameterised ramp.
• When 0 Hz has been reached, the servo inverter
changes to the error status and is inhibited. After the
error has been acknowledged, the "Switch on
disabled" device status has to be changed to the
"Operation enabled" device status again before
manual control can be continued.Enable/inhibit
operation via control word
Axis A Axis B Parameter
0x2836:5 0x3036:5 Time span for time monitoring
5.4 Manual control
________________________________________________________________


The motor rotates according to the manual jog commands.
 How to activate manual control

2. Set object 0x2825 (or 0x3025 for axis B) to "4" to change to the "Manual control" mode.
3. Enable the servo inverter to start the manual control.
• In the »EASY Starter«, the servo inverter can be enabled via the operator dialog for
manual control. The operator dialog also takes priority over the control word (0x6040 or
0x6840 for axis B).
• The possible settings for the manual control mode are described in the following.
4. To stop the manual control:
0x2836 | 0x3036 - Manual jog: Settings

1 Manual jog: Current setpoint 30 % UNSIGNED_16
2 Manual jog: Frequency 0.0 Hz INTEGER_16
3 Manual jog: Ramp time - current 0 ms UNSIGNED_16
4 Manual jog: Ramp time - frequency 500 ms UNSIGNED_16
5 Manual jog: Time monitoring 2500 ms UNSIGNED_32
6 Manual jog: Current controller - gain 20.00 V/A UNSIGNED_32
7 Manual jog: Current controller - reset time 20.00 ms UNSIGNED_32
Subindex 1: Manual jog: Setpoint current

Selection of the current setpoint for the manual control
• 100 % ≡ rated axis current (0x2DDF:1 or 0x35DF:1 for axis B)
0 % 200 30 %
 Write access  CINH  OSC  P  RX  TX UNSIGNED_16
Subindex 2: Manual jog: Frequency

Selection of the frequency for manual control
Please observe the notes regarding the limitation of the output frequency in the chapters
• Manual jog
• Limitation of the output frequency
-1000.0 Hz 1000.0 0.0 Hz
5.4 Manual control
________________________________________________________________
Subindex 3: Manual jog: Ramp time - current

Time span during which the current setpoint is run from zero to the final value set.
0 ms 1000 0 ms
Subindex 4: Manual jog: Ramp time - frequency

Time span during which the frequency is run from zero to the final value set.
0 ms 10000 500 ms
Subindex 5: Manual jog: Time monitoring

Time span for time monitoring
• The manual control features a time monitoring function which is coupled to a write access to subindex 2
(Manual jog: Frequency).
• If no write access to the subindex 2 takes place within the time period set here, the frequency is lead to zero via
the parameterised ramp. When the 0 Hz have been reached, the servo inverter changes to the error status and is
inhibited. After acknowledging the error, switch the CiA402 state machine from the "switch on inhibited" back
to the "operation enabled" status before proceeding with manual jog.
0 ms 100000 2500 ms
Subindex 6: Manual jog: Current controller gain

0.00 V/A 750.00 20.00 V/A
 Write access  CINH  OSC  P  RX  TX Scaling: 1/100 UNSIGNED_32
Subindex 7: Manual jog: Current controller reset time

0.01 ms 2000.00 20.00 ms
5.5 Setting the control mode
________________________________________________________________
5.5 Setting the control mode
The i700 servo inverter supports different modes for open-loop/closed-loop motor control:
• Servo control for synchronous motor (SM)
• Servo control for asynchronous motor (ASM)
• V/f characteristic control for asynchronous motor (ASM)
Servo control
The field-oriented servo control is based on a decoupled, separated control of the torque-producing
and field-producing current component. The motor control is based on a fed back, field-oriented and
cascaded controller structure and enables dynamic and stable operation in all four quadrants. It can
be used for synchronous motors (SM) and asynchronous motors (ASM).
V/f characteristic control

The V/f characteristic control is a motor control mode for typical frequency inverter applications on
the basis of a simple and robust control mode for the operation of asynchronous motors with linear
or square-law load torque characteristics (e.g. fans). This motor control mode is also suitable for
group drives and special motors.
0x2C00 | 0x3400 - Motor control
Setting of the mode for open-loop/closed loop motor control

1 Servo control - synchronous motor (SM) Servo control for synchronous motor (SM)
2 Servo control - asynchronous motor (ASM) Servo control for asynchronous motor (ASM)
3 Reserved From version 01.03
6 VFC: V/f characteristic control V/f characteristic control for asynchronous motor (ASM)
5.6 Accepting/adapting plant parameters
________________________________________________________________
5.6 Accepting/adapting plant parameters
The "plant parameters" summarise all parameters which result from the combination of motor and
load. These characterise the transfer behaviour of the entire controlled system including the
required monitoring modes.
• The plant parameters depend on the application in which the servo inverter and the motor are
used.
• When a Lenze motor is selected, respective plant parameters are suggested for the load-free
operation. This enables the motor to be moved without any load. During operation with a load
it is required to change the plant parameters according to the load. Details on how to determine
the adapted plant parameters are described in the corresponding objects.
Overview of plant parameters
Object Info Lenze setting Control

Axis A Axis B Value Unit Servo V/f
0x6080 0x6880 Max motor speed 6075 r/min  

0x6073 0x6873 Max current 150 %  
0x2900:1 0x3100:1 Speed controller: Gain 0.00038 Nm/rpm 
0x2900:2 0x3100:2 Speed controller: Reset time 15.0 ms 
0x2900:3 0x3100:3 Speed controller: Rate time 0.00 ms 
0x2904 0x3104 Speed: Actual speed - filter time 0.6 ms  
0x2D44:1 0x3544:1 Motor speed monitoring: Threshold 8000 r/min  
5.7 Compensating for inverter influence on output voltage
________________________________________________________________
 Note!
In the V/f characteristic control mode the procedure described below is recommended
because a well-adapted inverter characteristic leads to a significantly improved drive
behaviour during V/f operation.
An inverter generates a three-phase voltage system with pulse width modulation. Inherent to its
functional principle, the inverter also generates current-dependent and switching frequency-
dependent losses which influence the output voltage. The motor voltage actually provided at the
output terminals is not measured in order to compensate for deviations if need be. Instead, an
adjustment is made by means of the inverter characteristic to compensate for deviations.
Among other things, the inverter characteristic depends on the length of the motor cable and at
least has to be individually determined once for the connected motor by means of the device
command "Calculate inv. characteristic". For an automatic determination of the motor parameters,
this ensures that the current has a sinusoidal form.
 Danger!
This procedure may only be carried out during commissioning, not during operation!
During the procedure the motor is energised so that:
• it cannot be excluded that the connected mechanical components may move!
• the windings heat up.
If you repeat the procedure, ensure that the motor is not thermally overloaded
(particularly if no temperature feedback is used).
Identification of the inverter characteristic - procedure

If no error is pending, the motor is energised during the procedure with a maximum DC current
corresponding to the lower of the two following values:
2 ⋅ Rated device current

or
2 ⋅ 1.8 ⋅ Rated motor current
• Ideally, the first value should be reached, the second value is to ensure that the load on the
motor is not too high during this test.
• During the procedure, the motor current increases to the maximum value specified and falls
back to "0" to repeat the cycle with a negative current sign. Altogether, the maximum value is
reached four times.
• The switching frequency of the inverter is set to rated switching frequency and after the
procedure, it is reset to the original value.
• If the switching frequency should be changed later during operation, the characteristic will
automatically be adapted to the current switching frequency.
________________________________________________________________

• The motor may be firmly braked.

If the motor is not firmly braked, it will move slightly.
 How to determine the inverter characteristic:

2. Set object 0x2825 (or 0x3025 for axis B) to "8" to change to the "Inverter characteristic:
Identification" operating mode.
3. Enable the servo inverter to start the procedure.
Note: By means of controller inhibit, the started procedure can be cancelled any time.
Characteristic values that have already been determined are rejected in this case.
After successful completion...

...the controller will be inhibited automatically and the points of the determined inverter
characteristic will be set in object 0x2947 (or 0x3147 for axis B).
• For permanent storage, the changed settings must be uploaded to the controller from the i700
servo inverter.
The »EASY Starter« serves to save the parameter settings of the i700 servo inverter as parameter
file (*.gdc). In the »PLC Designer«, this file can then be imported in the corresponding axis.
Saving changed parameters safe against mains failure ( 53)
• The inverter characteristic must only be detected again if the servo inverter, motor, or motor
cable has changed, for instance due to an replacement.
• The controller inhibit automatically set by the procedure can be deactivated via the
Controlword (0x6040 or 0x6840 for axis B) (setting = 7, 15).
In the event of an error

If an error occurs during the procedure or the pulse inhibit gets active (e.g. due to short-time
undervoltage), the procedure is terminated with controller inhibit without a change in settings.
________________________________________________________________
Advanced settings
For characteristic detection, the current controller is parameterised automatically at the beginning
of the identification process. For motors with a very low stator leakage inductance (< 1 mH), an
automatic parameter setting may fail and the actual identification process is aborted with an error
message like e.g. "short circuit".
• For such a case, it is possible to set the current controller manually via the object 0x2942 (or
0x3142 for axis B).
• Whether the current controller is to be selected automatically or the values below 0x2942 (or
0x3142 for axis B) are active, is selected via the object 0x2DE0:1 (or 0x35E0:1 for axis B).
0x2DE0 | 0x35E0 - Advanced settings

1 Current controller: Setting for identification 0: Automatic setting UNSIGNED_8
2 Sensorless synchronous control: Signal for test 0: Off UNSIGNED_8
mode
3 Resolver: Position detection - dynamics 100 % UNSIGNED_16
4 Resolver: 8 kHz safety signal 0: Automatically by device type UNSIGNED_8
5 Torque: 4 or 16 kHz interpolation 1: On UNSIGNED_8
Subindex 1: Current controller: Setting for identification

0 Automatic setting
1 Manual setting (0x2942/0x3142)
Subindex 2: Sensorless synchronous control: Signal for the test mode

0 Off
1 On
Subindex 3: Resolver: Position detection - dynamics

20 % 1000 100 %
Subindex 4: Resolver: 8 kHz safety signal

0 Automatically by device type
1 On
2 Off
________________________________________________________________
Subindex 5: Torque: 4 or 16 kHz interpolation

0 Off
1 On
Loading the standard inverter characteristic

If an incorrect inverter characteristic has been determined or none at all, it is possible to load a
device-typical standard inverter characteristic.
 How to load the standard inverter characteristic:

1. Set object 0x2822 (or 0x3022 for axis B) to "1".
• The progress of the procedure is shown in object 0x2823 (or 0x3023 for axis B).
2. For permanent storage: After completion of the procedure, upload the inverter
characteristic set in 0x2947 (or 0x3147 for axis B) to the controller from the i700 servo
inverter.
The »EASY Starter« serves to save the parameter settings of the i700 servo inverter as
parameter file (*.gdc). In the »PLC Designer«, this file can then be imported in the
corresponding axis. Saving changed parameters safe against mains failure ( 53)
0x2947 | 0x3147 - Inverter characteristic: Voltage grid points (y)
y values of the 17 grid points of the inverter characteristic

1 IC: y1 = U01 (x = 0.00 %) 0.00 V UNSIGNED_16
2 IC: y2 = U02 (x = 6.25 %) 0.00 V UNSIGNED_16
3 IC: y3 = U03 (x = 12.50 %) 0.00 V UNSIGNED_16
4 IC: y4 = U04 (x = 18.75 %) 0.00 V UNSIGNED_16
5 IC: y5 = U05 (x = 25.00 %) 0.00 V UNSIGNED_16
6 IC: y6 = U06 (x = 31.25 %) 0.00 V UNSIGNED_16
7 IC: y7 = U07 (x = 37.50 %) 0.00 V UNSIGNED_16
8 IC: y8 = U08 (x = 42.75 %) 0.00 V UNSIGNED_16
9 IC: y9 = U09 (x = 50.00 %) 0.00 V UNSIGNED_16
10 IC: y10 = U10 (x = 56.25 %) 0.00 V UNSIGNED_16
11 IC: y11 = U11 (x = 62.50 %) 0.00 V UNSIGNED_16
12 IC: y12 = U12 (x = 68.75 %) 0.00 V UNSIGNED_16
13 IC: y13 = U13 (x = 75.00 %) 0.00 V UNSIGNED_16
14 IC: y14 = U14 (x = 81.25 %) 0.00 V UNSIGNED_16
15 IC: y15 = U15 (x = 87.50 %) 0.00 V UNSIGNED_16
16 IC: y16 = U16 (x = 93.25 %) 0.00 V UNSIGNED_16
17 IC: y17 = U17 (x = 100.00 %) 0.00 V UNSIGNED_16
 Write access  CINH  OSC  P  RX  TX
5.8 Setting the motor parameters for the servo control
________________________________________________________________
If the servo control (SM, ASM) is applied, it is required to parameterise the so-called motor model
first. These are electrical variables which are provided in the i700 servo inverter as parameters.
5.8.1 Lenze motor: Easy loading of motor data from the catalogue via the »PLC-Designer«
For Lenze motors with a standard feedback system installed by Lenze, the required motor
parameters are provided by the »PLC Designer« during the motor selection by means of catalogues
and automatically copied to the i700 servo inverter in the default setting.
In this case, you can directly go to the next commissioning step:
Setting the feedback system for the servo control
5.8.2 Motors of other manufacturers or no catalogue data available: Three possibilities to create
the setting
For motors of other manufacturers or if there are no catalogue data available for the motor, three
alternative possibilities for setting the motor parameters are provided:
A. Enter motor nameplate data
(and have motor model parameters determined automatically)
B. Set motor parameters manually
C. Determine motor parameters automatically via "motor parameter identification"
The following subchapters provide detailed information on the three alternative methods. The
Engineering tool saves the used method to the following object so that the suitable
parameterisation dialogs are available the next time an online connection is present.
0x2C08 | 0x3408 - motor: Setting method - motor parameters

1 Select from catalogue (Lenze motor) For Lenze motors with a standard feedback system
installed by Lenze, the required motor parameters are
provided by the »PLC Designer« during the motor
selection by means of catalogues and automatically
copied to the i700 servo inverter in the default setting.
2 Enter motor nameplate data (other motors) Enter motor nameplate data
(and have motor model parameters determined
automatically)
3 Manually (other motors) Set motor parameters manually
4 Identification in progress (all motors) Determine motor parameters automatically via
"motor parameter identification"
________________________________________________________________
5.8.2.1 Enter motor nameplate data

If the equivalent circuit data of the motor required for the motor model are not known, they can
automatically be determined by approximation by the i700 servo inverter by means of the motor
nameplate data before they are set.
 How to have the equivalent circuit data determined by the i700 servo inverter:
1. Set the complete motor nameplate data in object 0x2C01 (or 0x3401 for axis).
2. Set the rated motor current in object 0x6075 (or 0x6875 for axis B).
3. Set object 0x2822 (or 0x3022 for axis B) to "3" in order to have the equivalent circuit data
determined by approximation.
• The progress of the procedure is shown in object 0x2823 (or 0x3023 for axis B)
 Note!
This axis command serves to derive the scaled warning and switch-off thresholds of the
motor temperature monitoring from the parameterised insulation class (0x2C01:9 or
0x3401:9). There are motor/device combinations, where the warning and switch-off
thresholds (0x2D49:3 / 0x3549:3 or 0x2D49:4 / 0x3549:4) are assigned to a lower
insulation class (e.g. winding design in insulation class H, switch-off temperature
155 °C).
In this case, a manual parameterisation is required at the end of the motor
commissioning.
4. For permanent storage: Upload the set equivalent circuit data to the controller from the
i700 servo inverter after the procedure has been completed:
• For asynchronous motor (ASM): Object 0x2C02 (or 0x3402 for axis B).
• For synchronous motor (SM): Object 0x2C03 (or 0x3403 for axis B).
5.8.2.2 Set motor parameters manually

If all required motor data are known (e.g. by means of a data sheet provided by the motor
manufacturer), they can be set manually in the following parameters:
Object Name Required for

Axis A Axis B SM ASM
0x2C01:1 0x3401:1 Motor: Number of pole pairs  
0x2C01:2 0x3401:2 Motor: Stator resistance (value at 20°C)  
0x2C01:3 0x3401:3 Motor: Stator leakage inductance  
0x2C01:4 0x3401:4 Motor: Rated speed  
0x2C01:5 0x3401:5 Motor: Rated frequency  
0x2C01:6 0x3401:6 Motor: Rated power  
0x2C01:7 0x3401:7 Motor: Rated voltage  
0x2C01:8 0x3401:8 Motor: Rated cosine phi  
0x2C01:9 0x3401:9 Motor: Insulation class  
________________________________________________________________

0x2C02:1 0x3402:1 Motor (ASM): Rotor resistance (value at 20 °C) 
0x2C02:2 0x3402:2 Motor (ASM): Mutual inductance 
0x2C02:3 0x3402:3 Motor (ASM): Magnetising current 
0x2C03:1 0x3403:1 Motor (SM): e.m.f. constant (KELL, line-to-line, value is 20° C) 
0x2C03:2 0x3403:2 Motor (SM): Pole position 
0x2C03:3 0x3403:3 Motor (SM): Temperature coefficient - magnets 
0x6075 0x6875 Motor rated current  
0x6076 0x6876 Motor rated torque  
Motor equivalent circuit (star connection)
Async. motor Synchronous motor
IPhase Rs Lss Lsr IPhase Rs Ls
IµN
Rr
UPhase Lh UPhase e.m.f.
s
0x2C01:2 0x3401:2 Rs Motor stator resistance (value at 20°C) Ω

0x2C01:3 0x3401:3 Lss Motor stator leakage inductance (ASM) H
Ls Motor stator inductance (SM) H
- - Lsr Motor rotor leakage inductance (is assumed to be equal to H
Lss)
0x2C02:1 0x3402:1 Rr Motor rotor resistance (value at 20°C) Ω
0x2C02:2 0x3402:2 Lh Mutual motor inductance H
0x2C02:3 0x3402:3 IμN Motor magnetising current A
- - s Slip
- - e.m.f. Electromotive force
________________________________________________________________
5.8.2.3 Determine motor parameters automatically via "motor parameter identification"
 Danger!
This procedure may only be carried out during commissioning, not during operation!
• During the procedure the motor is energised so that:
• it cannot be excluded that the connected mechanical components may move!
• the windings heat up.
If you repeat the procedure, ensure that the motor is not thermally overloaded
(particularly if no temperature feedback is used).
The motor parameters listed in the table below can be determined automatically via the motor
parameter identification function if they are not known. The resistance values are converted via the
actual motor temperature into values that correspond to a temperature of 20°C. If a thermal
detector is not connected, a temperature value of 90°C is assumed.

0x2C01:2 0x3401:2 Motor: Stator resistance (value at 20°C)  
0x2C01:3 0x3401:3 Motor: Stator leakage inductance (Lss)  
0x2C02:1 0x3402:1 Motor (ASM): Rotor resistance (value at 20 °C) 
0x2C02:2 0x3402:2 Motor (ASM): Mutual inductance (Lh) 
0x2C02:3 0x3402:3 Motor (ASM): Magnetising current 
Sequence of the motor parameter identification

The apparent resistance of the plant is determined for approx. 30 different frequencies. Then a
mathematical procedure is used to extract the electrical parameters of the motor.
• Since the procedure starts with very low frequencies and always considers several complete
periods, the whole process takes approx. 3 minutes.
• During the procedure, the motor is energised with a current, the r.m.s. value of which
corresponds to the lower of the following two values:
Rated device current

or
1
--- ⋅ Rated motor current
2
 Tip!
If an asynchronous motor is to be identified, the identification should be executed with half
the rated motor current in order to achieve an optimal result. For this purpose, the rated
device current has to be higher than half the rated motor current. In case of a synchronous
motor, this is irrelevant.
________________________________________________________________
After the parameters have been extracted from the impedance, they are checked for consistency
with the required rated values. If an inconsistent parameter set is detected, is this an indication of
faulty rated values on the nameplate.

• The synchronous motor must be able to rotate freely.
• The asynchronous motor may be firmly braked.
• The motor parameters listed in the following table are excluded from the automatic
determination and must therefore be adapted to the motor used (see motor nameplate before
the determination.
Object Name
Axis A Axis B
0x6075 0x6875 Motor rated current

(The current amount for the procedure is derived from this specification)
0x2C01:2 0x3401:2 Motor: Stator resistance
(Default setting is used as starting value for the automatic determination.)
0x2C01:4 0x3401:4 Motor: Rated speed
0x2C01:5 0x3401:5 Motor: Rated frequency
0x2C01:6 0x3401:6 Motor: Rated power
0x2C01:7 0x3401:7 Motor: Rated voltage

• A DC current is superimposed over the identification current that keeps the motor idling. After
the controller enable, the shaft will adjust once, which is irrelevant to measurement though.
• With asynchronous motors, slight rotations might possibly occur. Their influence on the
measurements is, however, not worth mentioning.
 Note!
• In case of uncertainties, the measurement should be repeated several times to check
if the results for the stator resistance, the leakage inductance of the stator and the
rotor resistance differ widely. This should not be the case.
• The mutual inductance and the cos(ϕ) values are not that important for the
diagnostics, because they are strongly non-linear.
________________________________________________________________
 How to carry out the motor parameter identification:

2. Set object 0x2825 (or 0x3025 for axis B) to "9" to change to the "Motor: Parameter
identification" operating mode.
Note: By means of controller inhibit, the procedure started can be cancelled any time, if
required, without a change in settings.

...the controller is automatically inhibited and the determined motor data are set in the
corresponding objects (0x2C01 and 0x2C02 or 0x3401 and 0x3402 for axis B).
servo inverter.

Advanced settings
For motor parameter detection, the current controller is parameterised automatically at the
beginning of the identification process. For motors with a very low stator leakage inductance
(< 1 mH), an automatic parameter setting may fail and the actual identification process is aborted
with an error message like e.g. "short circuit".
• For such a case, it is possible to set the current controller manually via the object 0x2942 (or
0x3142 for axis B).
• Whether the current controller is to be selected automatically or the values below 0x2942 (or
0x3142 for axis B) are active, is selected via the object 0x2DE0:1 (or 0x35E0:1 for axis B).
________________________________________________________________
5.8.3 Motor parameters (object descriptions)
 Note!
In the objects 0x2C01 and 0x2C02, parameters of a motor in star connection are
described. If you want to use a motor in delta connection, the data of a winding (e.g.
from the associated data sheet of the motor) has to be converted into the equivalent
values of the star connection.
The stator resistance (object 0x2C01:2 or 0x34E0:2 for axis B) for the motor in delta
connection, for instance, is calculated as follows:
1
R delta connection = --- ⋅ R star connection
3
0x2C01 | 0x3401 - Motor: Common parameters

1 Motor: Number of pole pairs UNSIGNED_8
2 Motor: Stator resistance 13.5000 ohms UNSIGNED_32
3 Motor: Stator leakage inductance 51.000 mH UNSIGNED_32
4 Motor: Rated speed 4050 rpm UNSIGNED_16
5 Motor: Rated frequency 270.0 Hz UNSIGNED_16
6 Motor: Rated power 0.25 kW UNSIGNED_16
7 Motor: Rated voltage 225 V UNSIGNED_16
8 Motor: Rated cosine phi 0.80 UNSIGNED_16
9 Motor: Insulation class 4: F (cut-off temperature = 155 °C) UNSIGNED_8
10 Motor: Designation STRING(50)
Subindex 1: Motor: Number of pole pairs

0 255
Subindex 2: Motor: Stator resistance

see also motor equivalent circuit
Stator resistance of a motor phase (reference: ϑ = 20 °C)
0.0000 Ohm 125.0000 13.5000 ohms
Subindex 3: Motor: Stator leakage inductance

Stator leakage inductance (ASM) or leakage inductance (SM) of a motor phase
0.000 mH 500.000 51.000 mH
________________________________________________________________
Subindex 4: Motor: Rated speed

0 r/min 50000 4050 rpm
Subindex 5: Motor: Rated frequency

0.0 Hz 1000.0 270.0 Hz
Subindex 6: Motor: Rated power

0.00 kW 655.35 0.25 kW
Subindex 7: Motor: Rated voltage

0 V 65535 225 V
Subindex 8: Motor: Rated cosine phi

0.00 655.35 0.80
Subindex 9: Motor: Insulation class

The axis command 0x2822:0 / 0x3022:0 = 3 serves to derive the scaled warning and switch-off thresholds of the
motor temperature monitoring from the parameterised insulation class.
Observe the following for applications with third-party and special motors:
There may be constellations where warning and switch-off thresholds (0x2D49:3 / 0x3549:3 or 0x2D49:4 /
0x3549:4) correspond to a low insulation class. A manual parameter setting at the end of the motor commissioning
is required here.
Example
The winding design corresponds to the insulation class H, the switch-off temperature, however, is already reached
at ϑ = 155° C.
0 Y (cut-off temperature = 90°C)
1 A (cut-off temperature = 105 °C)
2 E (cut-off temperature = 120°C)
3 B (cut-off temperature = 130°C)
4 F (cut-off temperature = 155°C)
5 H (cut-off temperature = 180°C)
6 G (cut-off temperature > 180°C)
Subindex 10: Motor: Designation

________________________________________________________________
0x2C02 | 0x3402 - Motor (ASM): Parameter

1 Motor (ASM): Rotor resistance 0.0000 Ohm UNSIGNED_32
2 Motor (ASM): Mutual inductance 0.0 mH UNSIGNED_32
3 Motor (ASM): Magnetising current 0.00 A UNSIGNED_16
Subindex 1: Motor (ASM): Rotor resistance

Rotor resistance of a motor phase (reference: ϑ = 20 °C).
0.0000 Ohm 214748.3647 0.0000 Ohm
Subindex 2: Motor (ASM): Mutual inductance

Mutual inductance of a motor phase (reference: ϑ = 20 °C).
0.0 mH 214748364.7 0.0 mH
Subindex 3: Motor (ASM): Magnetising current

0.00 A 500.00 0.00 A
0x2C03 | 0x3403 - Motor (SM): Parameter

1 Motor (SM): e.m.f. constant (KELL) 41.8 V/1000 rpm UNSIGNED_32
2 Motor (SM): Pole position resolver -90.0 ° INTEGER_16
3 Motor (SM): Temperature coefficient - -0.110 %/°C INTEGER_16
magnets (kTN)
4 Motor (SM): Pole position encoder 0.0 ° INTEGER_16
Subindex 1: Motor (SM): e.m.f. constant (KELL)

For permanently excited synchronous motors, the e.m.f. constant describes the r.m.s. value of the line-to-line
voltage (phase voltage) induced in idle state by the motor. Reference: 1000 rpm, 20 °C
When third-party motors are used, the data from the motor data sheet may have to be adapted according to the
values and units mentioned above.
0.0 V/1000 rpm 100000.0 41.8 V/1000 rpm
Subindex 2: Motor (SM): Pole position resolver

-179.9 ° 179.9 -90.0 °
 Write access  CINH  OSC  P  RX  TX Scaling: 1/10 INTEGER_16
________________________________________________________________
Subindex 3: Motor (SM): Temperature coefficient - magnets (kTN)

-1.000 %/°C 0.000 -0.110 %/°C
Subindex 4: Motor (SM): Pole position encoder

From version 01.03
-179.9 ° 179.9 0.0 °
0x6075 | 0x6875 - Motor rated current
The rated motor current set here serves as a reference value for the following objects:
• 0x6073 | 0x6873 - Device: Max. current
• 0x6078 | 0x6878 - Current actual value
• 0x2835 | 0x3035 - Manual test mode: Settings
• 0x2C61 | 0x3461 - Pole position identification PPI (360°)
• 0x2C62 | 0x3462 - Pole position identification PPI (min. movement)
• 0x2D4D | 0x354D - Motor utilisation (I²xt): User-definable characteristic

0.001 A 500.000 1.300 A
 Write access  CINH  OSC  P  RX  TX Scaling: 1/1000 UNSIGNED_32
0x6076 | 0x6876 - Motor rated torque
The rated motor torque set here serves as a reference value for the following objects:
• 0x6071 | 0x6872 - Target torque
• 0x6072 | 0x6872 - Max. torque
• 0x6074 | 0x6874 - Torque demand
• 0x6077 | 0x6877 - Torque actual value
• 0x60B2 | 0x68B2 - Torque offset
• 0x60E0 | 0x68E0 - Positive torque limit value
• 0x60E1 | 0x68E1 - Negative torque limit value
• 0x2DD4 | 0x35D4 - Speed controller: Output signal
• 0x2DD5 | 0x35D5 - torque: Target torque
• 0x2DD6 | 0x35D6 - Torque: Filter cascade

0.001 Nm 1000.000 0.600 Nm
5.9 Setting the feedback system for the servo control
________________________________________________________________
After setting the motor parameters, the feedback system for the servo control must be set.
 Note!
The feedback system has already been preselected by the hardware of the available
device version. Either the objects for resolver evaluation or the objects for encoder
evaluation are effective. Access to ineffective objects of hardware not available is
ignored.
The following table shows which parameters are valid for which feedback system:
Object Name
Axis A Axis B
General settings
0x2C45 0x3445 Open circuit in feedback system: Response
0x2C46 0x3446 Feedback system: Specifiable number of revolutions
Settings for "resolver" version
0x2C03:2 0x3403:2 Motor (SM): Pole position resolver
0x2C43 0x3443 Resolver: Number of pole pairs
Settings for "encoder" version
0x2C03:4 0x3403:4 Motor (SM): Pole position encoder
0x2C40 0x3440 Encoder: Type
0x2C42:1 0x3442:1 Encoder: Increments / revolution
0x2C42:2 0x3442:2 Encoder: Supply voltage
0x2C42:3 0x3442:3 Encoder: Angle drift - Actual angle error
0x2C42:4 0x3442:4 Encoder: Signal quality - Actual amplitude
Additional settings for SinCos absolute value encoders with HIPERFACE® protocol
0x2C41:1 0x3441:1 Hiperface: Determined type code
0x2C41:2 0x3441:2 Hiperface: User def. encoder - type code
0x2C41:3 0x3441:3 Hiperface: User def. encoder - specifiable revolutions
0x2C41:4 0x3441:4 Hiperface absolute value fault: Response
0x2C41:5 0x3441:5 Hiperface: Serial number
0x2C41:6 0x3441:6 Hiperface: Raw data - Actual position
0x2C41:7 0x3441:7 Hiperface: Detected Increments / revolution
0x2C41:8 0x3441:8 Hiperface: Type code supported by firmware
0x2C41:9 0x3441:9 Hiperface: Encoder type
0x2C41:10 0x3441:10 Hiperface: Period length linear encoder
________________________________________________________________
5.9.1 General settings
Encoder open-circuit monitoring

In the Lenze setting the resolver/encoder cable is monitored for open circuit.
 Danger!
If the encoder/resolver is used as motor encoder:
Safe operation of the motor is no longer ensured in the event of an error!
• For safety reasons, always select "Fault" (Lenze setting) as a response for the (open-
circuit) monitoring of the encoder/resolver!
• To avoid the injection of interference when an encoder is being used, only use
shielded motor and encoder cables!
When does the open-circuit monitoring system respond?
Resolver Multi encoder

• If there is an open circuit in the encoder cable. • If there is an open circuit in the encoder cable.
• If the impedance of the resolver is too high.
• In the case of interference injections (EMC
interferences).
0x2C45 | 0x3445 - feedback system: Response to open circuit
If there is an open circuit in the encoder cable, the response set here is triggered.

0 No response
1 Fault • In the device statuses "not ready to start" and "switch-
on inhibited", a warning is output.
• In all other device statuses, the error response set
here is executed.
2 Warning
Display parameter
0x2C46 | 0x3446 - feedback system: Specifiable number of revolutions
From version 01.03

Is set by the firmware according to the available version:
0: No absolute value encoder (sin/cos encoder) or resolver with number of pole pairs > 1
1: Hiperface encoder SingleTurn or resolver with number of pole pairs = 1
>1: Hiperface encoder MultiTurn

0 65535
________________________________________________________________
0x2C5F | 0x345F - Feedback system: Parameter CRC
From version 01.03

0 4294967295
5.9.2 Settings for "resolver" version
0x2C43 | 0x3443 - Resolver: Number of pole pairs

1 10 1
 Note!
Resolvers with a number of pole pairs > 1 are no absolute value encoders.
• Thus, bit 4 in the Lenze status word 2 (0x2833 or 0x3033 for axis B) remains set to "0".
• The "distinguishable revolutions" specification in 0x2C46 (or 0x3446 for axis B) is also
set to "0".
The following applies to synchronous motors:
• In case of integer ratios of the number of pole pairs of the motor (0x2C01:1 or
0x3401:1 for axis B) to the number of pole pairs of the resolver, the pole position
identification is only required once.
• In case of non-integer ratios, a pole position identification has to be executed after
every 24-V switching operation of the i700 servo inverter.
Synchronous motor (SM): Pole position identification ( 90)
Resolver error compensation, resolover error identification

The actual position determined via the resolver does not exactly correspond to the actual physical
position. There will always be some greater or lesser deviation due to the following causes:
Cause Remedy
The inductances of the sine and cosine track of the Adaptation of the gains for the digital-analog converters
resolver have slightly different values. supplying the resolver tracks.
• In the Lenze setting, the gains for both resolver tracks
are preset identically.
Sine and cosine track do not magnetise orthogonally to Correction of the angle by means of which the two
each other. resolver tracks are supplied in a manner relative to one
another.
The i700 servo inverter provides the possibility to identify the error of the connected resolver and to
automatically generate adjustment values for compensating the resolver error.

• The motor is operated in speed open-loop control and servo control.
________________________________________________________________
• During the resolver error identification, the speed should be constant, if possible, and greater
than 500 rpm.
• During the resolver error identification, approximately 1900 motor revolutions are covered.
Depending on the speed, an identification run thus takes
• 10 minutes at 600 rpm
• 3 minutes at 2000 rpm
• 1.5 minutes at 4000 rpm

• The response of the motor corresponds to the speed setpoint.
• The motor may be running rough during identification. This is due to the identification method.
 How to create the adjustment values for resolver error compensation:

• After successful completion of the resolver error identification, the following
parameters of the resolver error compensation are automatically written. The resolver
now operates with these settings.
2. For permanent storage: After the procedure has been completed, upload the changed
parameters (0x2C44 or 0x3444 for axis B) from the i700 servo inverter into the Controller.
 Note!
The detected gain can take values between 0 ...100 %.
• With a setting of 0 %, the gain of the corresponding resolver track is only 95 % of the
Lenze setting.
• With a sensible resolver error compensation only one of the two gains is adapted. The
other remains at 100 %.
0x2C44 | 0x3444 - Resolver error compensation: Parameter

1 Resolver error compensation: Angle 0 INTEGER_16
2 Resolver error compensation: Cosine track gain 100 % UNSIGNED_16
3 Resolver error compensation: Sine track gain 100 % UNSIGNED_16
Subindex 1: Resolver error compensation: Angle

[´] = angular minutes
-100 100 0
 Write access  CINH  OSC  P  RX  TX INTEGER_16
________________________________________________________________
Subindex 2: Resolver error compensation: Cosine track gain

0 % 100 100 %
Subindex 3: Resolver error compensation: Sine track gain

0 % 100 100 %
Deactivating the resolver error compensation

For the deactivation of the resolver error compensation, the corresponding parameters must be
reset to the Lenze setting again.
5.9.3 Settings for "encoder" version
The use of an incremental sin/cos encoder is preset. If a sin/cos absolute value encoder with
HIPERFACE® protocol is connected instead, select "2" in 0x2C40 (or 0x3440 for axis B) and adapt the
encoder parameters (e.g. supply voltage) accordingly.
0x2C40 | 0x3440 - Encoder: Type

1 Sin/cos encoder
2 Hiperface absolute value encoder
0x2C42 | 0x3442 - Encoder: Parameter

1 Encoder: Increments / revolution 1024 UNSIGNED_32
2 Encoder: Supply voltage 5.0 V UNSIGNED_8
3 Encoder: Angle drift - Actual angle error INTEGER_16
4 Encoder: Signal quality - Actual amplitude UNSIGNED_8
Subindex 1: Encoder: Increments / revolution

1 131072 1024
Subindex 2: Encoder: Supply voltage

5.0 V 12.0 5.0 V
________________________________________________________________
Subindex 3: Encoder: Angle drift - Actual angle error

From version 01.03
-3276.8 ° 3276.7
 Write access  CINH  OSC  P  RX  TX Scaling: 1/10 INTEGER_16
Subindex 4: Encoder: Signal quality - Actual amplitude

From version 01.03
The signal quality indicates the actual amplitude of the SinCos analog signals with regard to 1 Vss = 100 %.
• In case of higher-order drives, the signal quality should be between 95 % and 105 %.
• There is no need for optimisation if the signal quality is within the tolerance zone for the analog encoder signals
given in the data sheet of the encoder manufacturer.
0 % 255
 Write access  CINH  OSC  P  RX  TX UNSIGNED_8
5.9.4 Evaluation of the signal quality
Determination and display of the current angular drift

The value displayed in the 0x2C42:3 object (or 0x3422:3 for axis B) indicates whether too much or
too less pulses, caused by EMC, have been detected by the device-internal counter unit. This value
is detected differently, depending on the encoder type:
In case of an incremental sin/cos encoder, the pulses are counted between two zero pulse events of
the Z track. In an error-free status, this value corresponds to the set number of increments. The
accuracy of this procedure corresponds to a line graduation of the encoder of ± 1. The difference
between set number of increments and counted pulses is converted to an angle with an accuracy of
±0.1°. A disadvantage is that only after one complete encoder revolution, an updated value of the
angular drift is available and thus the update rate depends on the speed.
In case of a sin/cos absolute value encoder with HIPERFACE® protocol, no Z track is available. Here,
instead, the position is regularly read out of the encoder. When the encoder is read out for the first
time (after power-up or removal of an open circuit), the encoder position is used to initialise the
device-internal counter unit and set a device-internal position. All other read-out processes from
the encoder are used to generate a difference between the device-internal position and the encoder
position. In an error-free status, the difference is zero. The accuracy of the process, however, is,
speed-dependent due to the dead time of the communication with the encoder and thus restricted
towards the zero pulse procedure. An advantage here, however, is that the update rate does not
depend on the speed but on the communication rate only. The update rate is encoder-specific and
generally is within the range between 30 ... 50 ms.
An evaluation of the angular drift regarding an error response is not provided in the Servo Inverter
i700. This has to be carried out in the control system.
From version 01.06.05, the communication with the encoder during the angular drift determination
is not monitored anymore. If a transmission error occurs
• the current angular drift is marked as invalid by the 0x2833, bit 7 status flag,
• the Servo Inverter i700 keeps its operating status.
The communication error monitoring (0x2C41:4) from version 01.06.05 is only used for monitoring
the initial reading out and setting of the position.
________________________________________________________________
The 0x2C42:4 object displays the signal amplitude of the encoder as a nominal value in percent.
Standard encoders provide 1 Vss (peak value 0.5 V) on the signal cables. In such a case, 100 % are
displayed in the object.
Open-circuit monitoring
The open-circuit monitoring of the i700 detects an error if the amplitude value has decreased
several times in a row to less than 73 % or increased to more than 126 %. For a reliable operation,
we recommend a signal amplitude in a range of 90 % ... 110 %.
If open circuit messages occur sporadically (e.g. due to defective wiring), the signal in the
oscilloscope can be used for recording and analysis. Here, not every fault is displayed since the
update rate of the internal monitoring is considerably higher compared to the 0x2C42:4 object or
the oscilloscope:
• 20 ms ... 30 ms for the object 0x2C42:4 / the oscilloscope
• 62.5 μs for the internal monitoring
From version 01.06.05, the sensitivity of open-circuit monitoring can be set in percent by the
0x2C47 object. The reduction of the monitoring sensitivity in case of an EMC-polluted environment
has proven advantageous.
 Note!
A reduced sensitivity causes a delayed response to real open circuits!
If the sensitivity is not reduced (100 %), the software response time of the monitoring is
• approx. 3.5 ms for an encoder
• 0.3 ms for a resolver.
Halving the sensitivity results in a doubling of the response time.
________________________________________________________________
5.9.5 Additional settings for SinCos absolute value encoders with HIPERFACE® protocol
Absolute value encoders are especially suitable for:

• Synchronous motors operated in the "servo control" mode. The synchronous motor (SM) servo
control requires a pole position angle. This has to be detected only once during commissioning
and saved as offset towards the absolute position in the axis data.
• Positioning modes in which homing is to be carried out only once.
The analog evaluation of the sin/cos tracks causes a high resolution. With regard to the storage of
the position information, we distinguish between singleturn and multiturn encoders:
• Singleturn: Storage within one revolution
• Multiturn: Storage within a number of revolutions
Supported encoder types with HIPERFACE® protocol

The following encoder types are supported by the i700 servo inverter:
Type Increments/revolution Absolute revolutions Type code

(0x2C41:1 | 0x3441:1)
AM1024-8V-H (SRM50) 1024 4096 39
AM1024-8V-H (SFM60) 1024 (Multiturn) 39
AM1024-8V-K2 (SRM50S) 1024 39
AM128-8V-H (SKM36) 128 55
AM16-8V-H (SEL37) 16 71
AM16-8V-H (SEL52) 16 71
AM512-8V-H (SCM70) 512 7
AS1024-8V-H (SRS50) 1024 1 34
AS1024-8V-K2 (SRS50S) 1024 (Singleturn) 34
AS16-8V-H (SEK37) 16 66
AS16-8V-H (SEK52) 16 66
AS512-8V-H (SCS70) 512 2
Supported SinCos encoder types without HIPERFACE® protocol

The following encoder types are supported by the i700 servo inverter:
Type Increments/revolution Absolute revolutions

IG1024-5V-V3 (RVS58S) 1024 0
IG2048-5V-S (ITD22) 2048 0
IG2048-5V-S 2048 0
Use of non-supported encoder types

If an encoder is to be used, the type code of which is not listed in the table of the supported encoder
types, this encoder can be introduced to the i700 servo inverter via the subindices 2 and 3 of the
hiperface parameters described in the following. Please also observe the notes in the description of
subindex 8.
Reading data out of the encoder

The "Determine data of the Hiperface encoder" function in the object 0x2822 (or 0x3022 for axis B)
serves to read the type code, number of increments and number of distinguishable revolutions out
of the encoder and automatically enter then into the corresponding Hiperface parameters.
________________________________________________________________
0x2C41 | 0x3441 - Hiperface: Parameter

1 Hiperface: Determined type code 0 UNSIGNED_8
2 Hiperface: User def. encoder - type code 0 UNSIGNED_8
3 Hiperface: User def. encoder - specifiable 1 UNSIGNED_16
revolutions
4 Hiperface absolute value fault: Response 1: Trouble UNSIGNED_8
5 Hiperface: Serial number STRING(50)
6 Hiperface: Raw data - Actual position UNSIGNED_32
7 Hiperface: Detected Increments / revolution UNSIGNED_16
8 Hiperface: Type code supported by firmware 0: Not supported UNSIGNED_8
9 Hiperface: Encoder type 0: Rotary transducer UNSIGNED_8
10 Hiperface: Period length linear encoder UNSIGNED_32
Subindex 1: Hiperface: Determined type code

Type code read out of the encoder
If a sin/cos encoder is set in 0x2C40 (or 0x3440 for axis B) or a communication error has occurred, this value is zero.
0 255 0
Subindex 2: Hiperface: User-defined encoder - type code

If the encoder is not supported by the firmware (see subindex 8):
 Here, manually set the type code displayed in the subindex 1.
0 255 0
Subindex 3: Hiperface: User-defined encoder - number of revolutions

If the encoder is not supported by the firmware (see subindex 8):
 Here, manually set the number of distinguishable revolutions.
Stop!
A wrong setting of the number of distinguishable revolutions may cause a breakdown!
1 65535 1
Subindex 4: Hiperface absolute value fault: Response

Selection of the response to communication problems or unknown encoder
0 No response
1 Fault
2 Warning
________________________________________________________________
Subindex 5: Hiperface: Serial number

From version 01.03
The displayed serial number can be used for detecting an encoder exchange
 Write access  CINH  OSC  P  RX  TX STRING(50)
Subindex 6: Hiperface: Raw data - Actual position

From version 01.03
The encoder-internal position value is output without being converted
0 4294967295
Subindex 7: Hiperface: Detected Increments / revolution

From version 01.03
Encoder increment according to type code or encoder nameplate
0 65535
Subindex 8: Hiperface: Type code supported by firmware

From version 01.03
If an encoder is connected that is not supported by the firmware, it will be displayed here.
In this case, the same response takes place as in case of a communication error. The error can be removed by
manually setting the type code displayed in subindex 1 in subindex 2. This serves to signalise to the firmware that
the number of distinguishable revolutions is as well set correctly in the subindex 3 by the user.
Selection list (read only)
0 Not supported
1 Supported by firmware
Subindex 9: Hiperface: Encoder type

From version 01.05
Detected encoder type (rotary/linear)
0 Rotary encoder
1 Linear encoder
Subindex 10: Hiperface: Period length of linear encoders

From version 01.05
In case of a linear encoder, here the period length or scaling is displayed in [nm]. In case of a rotary encoder, the value
"0" is displayed.
0 nm 4294967295
Communication error monitoring

Communication with the encoder is monitored by the protocol and by generating a checksum. If a
violation of the communication protocol or a defect frame is detected, a response occurs as a
________________________________________________________________
function of the CiA device status and the setting in subindex 4 (Hiperface communication error:
Response):
CiA device state Response in the event of an error

(depending on the error responses set in the Subindex 4)
0: No Response 1: Trouble 2: Warning
Not ready to switch on Warning
Switch on disabled Warning
Ready to switch on - Fault Warning
Switched on - Fault Warning
Operation enabled - Fault Warning
Quick stop active - Fault Warning
Fault reaction active - Warning
Fault - Warning
5.9.6 Detection of changed settings of the feedback system
Bit 0 of the Lenze status word 2 (0x2833 or 0x3033 for axis B) displays whether the settings of the
feedback system have been changed since the Not ready to switch on has been left. In case of a
change, bit 0 is set to "1".
A transition to the Operation enabled state causes bit 0 to be reset again to "0". In all device states,
the monitoring of changes at the following objects remains active:
Object Name
Axis A Axis B
0x2C40 0x3440 Encoder: Type

0x2C41:2 0x3441:2 Hiperface: User defined - Type code
0x2C41:3 0x3441:3 Hiperface: User defined - Number of revolutions
0x2C41:5 0x3441:5 Hiperface: Serial number
0x2C42:1 0x3442:1 Encoder: Increments / revolution
0x608F 0x688F Position encoder resolution
After a controller enable, bit 0 of the Lenze status word 2 is always reset to "0".
5.10 Synchronous motor (SM): Pole position identification
________________________________________________________________
 Note!
An identification of pole position (PLI) is only required:
• For servo control with synchronous motor of a third-party manufacturer.
• For servo control with synchronous motor and use of incremental encoders (TTL or
sin/cos encoders as well as resolvers).
• After changes of the motor feedback system, e.g. encoder exchange.
For the control of a permanent-magnet synchronous motor, the pole position – the angle between
motor phase U and the field axis of the rotor – must be known.
• For Lenze motors with an absolute encoder or resolver, the pole position has already been set
correctly.
• When incremental encoders (TTL or sin/cos encoders without absolute position information)
are used, a pole position identification (PPI) is always required after switching on the mains
(initialisation), even with Lenze motors.
Selection criteria for using the suitable pole position identification

For identifying the pole position for the currently activated motor encoder, the three functions are
available that provide nearly the same result. Due to e.g. friction, bearing reactions and a
trapezoidal field characteristic, the results may differ.
Pole position identification PPI (360°)
• The motor must not be braked, blocked or driven mechanically during the pole position
identification! For this reason, this function is not permitted for hanging loads!
• Especially in case of drives in idle state or with a low load (inertia / friction), this function
provides the most exact results of all three PLIs.
Pole position identification PPI (min. movement)
• The motor must not be braked, blocked or driven during the pole position identification! For
this reason, this function is not permitted for hanging loads!
• This function is in the medium range regarding the accuracy. When the current amplitude is
increased in percent, the accuracy of the result may be increased.
Pole position identification PPI (without movement)
• In case of firmly braked motors (e.g. for hanging loads), only this function may be used!
• This function has been developed for a great bandwidth of motor characteristics. In case of
some motor types, the identified pole position angle can considerably differ from the real one
which may result in a significant torque loss and higher motor losses. Hence, especially for
third-party motors, we recommend the execution of a reference identification using the Pole
position identification PPI (360°) with an idling motor.
If the identified values of both processes differ from each other by more than 20°, please
contact Lenze.
• When the current amplitude is increased in percent, the accuracy of the result may be
increased.
You can find detailed information on the respective function in the following subchapters.
________________________________________________________________
5.10.1 Monitoring of the pole position identification
If an error occurs during the pole position identification or the pulse inhibit gets active (e.g. due to
short-time undervoltage), the procedure is terminated with controller inhibit without a change in
settings.
If the motor was braked or blocked during the procedure, this will be recognised at the end of the
measurement and no change is made either (exception: "Pole position identification PLI (without
motion").
The error response can be parameterised:
0x2C60 | 0x3460 - Monitoring of pole position identification: Response
If the pole position identification is aborted, the response set here is triggered.
• If this behaviour is not wanted, deactivate the monitoring by selecting "0: No response".

0 No response
1 Fault
2 Warning
5.10.2 Pole position identification PPI (360°)
 Stop!
Check the correct parameterisation of the followng monitoring modes before carrying
out the pole position identification to prevent the motor from being permanently
damaged in the event of an error:
• Monitoring of the motor utilisation (I²xt) ( 254)
• Monitoring of the ultimate motor current ( 271)
 Note!
Please observe the following:
Selection criteria for using the suitable pole position identification
________________________________________________________________
b 112.5° 90° 67.5°

d qb
45° 135° 45°
157.5° 22.5°
0° a 180° 0° a
q
202.5° 337.5°
225° 315°
247.5° 270° 292.5°

If the servo control for synchronous motor is set and if no error is pending, the current is increased to 141 % of the
rated motor current along a ramp first after controller enable.
Left image
First, the rotor is moved from its optional position of rest to the 0° angle.
• For this purpose, the amplitude of the d current vector in the stator coordinate system is built up at a starting
angle of 45° and then turned to 0°.
• A sufficiently high amplitude of the d current vector and its rotary motion result in a magnetic force that moves
the rotor to the angle 0°.
Right image
Afterwards, the d current vector is turned further in 15 steps by 22.5° each starting at the angle 0°.
• The rotor adjusts itself to the corresponding angle due to the magnetic forces.
• After 16 steps, the rotor has moved electrically by absolute 360°.
Result
For determining the pole position, a mean value is calculated from all 16 messages.
The rotor displacement angle can be recorded via the 0x2DDE object (actual motor rotor angle position).
The detected pole position is stored in the i700 object 0x2C03:2, 0x2C03:4 and then has to be saved in the PLC
project.
Abort of the pole position identification

The pole position identification is aborted if the deviations between the rotary motion of the current vector and the
rotor exceed the error tolerance set in 0x2C41:4.
[5-1] PLI function (360°)
________________________________________________________________

RFR
IMP
t [s]
 Start of the pole position identification
 End of the pole position identification (IMP = High)
 Current position of the rotor ( 0x6064:0, actual position or 0x2DDE:0, actual position of rotor angle)
 Commutation angle of current vector, variable of the motor control (cannot be displayed in case of i700)
 Amplitude of the d current vector ( 0x2DD1:1 actual d current)
 Amplitude of the q current vector ( 0x2DD1:2 actual q current), is not used for PPI_360°
 Structure of the d current vector at electrical 45° (starting angle)
 Angular change of the d current vector to electrical 0°; alignment of the rotor
 15 angular changes by 22.5° each and subsequent plausibility check
[5-2] Chronological sequence of the pole position identification (360°)

• The motor must not be braked or blocked during the pole position identification.

During the pole position identification the rotor aligns itself. The motor shaft moves by max. one
electrical revolution which causes the corresponding movement of the connected mechanical
components!
 How to execute the pole position identification PPI (360°):

2. Set object 0x2825 (or 0x3025 for axis B) to "5" to change to the "Pole position identification
PPI (360°)" operating mode.
3. Before the PLI can be started, the works mentioned in the following have to be completed.
All setting values are examples and apply to the motor 115UDD305BBWBA-SKTY
________________________________________________________________
Activate/parameterise motor overload monitoring (I2xt)

• 0x2D4C:0 = 4
• 0x2D4C:1 = 175 s
• 0x2D4C:2 = 2300 s
• 0x2D4C:3 = 27 %
• 0x2D4C:4 = 0
• 0x2D4D:0 = 8
• 0x2D4D:1 = 0
• 0x2D4D:2 = 72 %
• 0x2D4D:3 = 1 %
• 0x2D4D:4 = 137 %
• 0x2D4D:5 = 100 %
• 0x2D4D:6 = 100 %
• 0x2D4D:7 = 133 %
• 0x2D4D:8 = 50 %
• 0x2D4E:0 = 100 %
• 0x2D4F:0 = 0
• 0x2D50:0 = 2
• 0x2D50:0 = Störung [1]
• 0x2D50:0 = 105
Calculate or metrologically determine basic current controller parameters and set them
(operating point of rated current is initially sufficient)
• 0x2822:0 = no command [0]
• 0x2939:0 = 8 kHz [1]
• 0x2941:0 = activate [1]
• 0x2942:1 = 9.25 V/A
• 0x2942:2 = 12.90 ms
Parameterise filter time constant for actual speed value
• 0x2904:0 = 0.6 ms
Parameterise monitoring of the maximum motor current
• 0x2D46:0 = 2
• 0x2D46:1 = 50 A
• 0x2D46:2 = fault [1]
4. Enable the servo inverter to start the pole position identification process (360°).
After successful completion of the pole position identification...

...controller inhibit is set automatically and the pole position specified in object 0x2C03:2 (or
0x3403:2 for axis B) for the activated feedback system is set.
servo inverter.
________________________________________________________________
Controlword (0x6040 or 0x6840 for axis B).Enable/inhibit operation via control word ( 52)
________________________________________________________________
5.10.2.1 Adapt pole position identification PPI (360°)

For drives with a high static friction, mass inertia or alternating load, an optimisation may be
required:
• The amplitude of the current vector has to be set so high that the motor can be accelerated with
a high mass inertia.
• The cyclic continued rotation of the current vector by 22.5° has to cause an equivalent angular
rotation of the motor shaft (rotor). A step function has to be achieved as displayed in the figure
[5-2]. Here, actual positions with very low overshoots are visible.
 Stop!
If there is no temperature monitoring in the motor and/or the I²xt motor monitoring and
the maximum current monitoring are not parameterised correctly, the motor might be
damaged permanently when the current amplitude is set too high!
Monitoring of the motor utilisation (I²xt) ( 254)
Monitoring of the ultimate motor current ( 271)
0x2C61 | 0x3461 - Pole position identification PPI (360°)

1 PPI (360°): Current amplitude 100 % UNSIGNED_16
2 PPI (360°): Ramp time 40 s UNSIGNED_16
3 PPI (360°): Direction of rotation 0: Field: CW UNSIGNED_8
4 PPI (360°): Error tolerance 20 ° UNSIGNED_8
5 PPI (360°): Absolute current amplitude UNSIGNED_32
Subindex 1: PPI (360°): Current amplitude

Adjustment of the current amplitude in percent
• For large machines and high mass inertia values or for linear direct drives, the current amplitude usually has to
be increased.
• A Lenze setting of "100 %" corresponds to 141 % of the rated motor current (0x6075 or 0x6875 for axis B).
Note!
If the current amplitude is set to > 100 %, the device utilisation (Ixt) monitoring and/or one of the motor monitoring
functions may respond and cause the abort of the pole position identification.
1 % 1000 100 %
Subindex 2: PPI (360°): Ramp time

Adjustment of the ramp time in percent
• For large machines and high mass inertia values, the ramp time usually has to be increased.
• For small machines, a reduction of the ramp time can speed up the pole position identification process.
1 s 600 40 s
________________________________________________________________
Subindex 3: PPI (360°): Direction of rotation

Selection of the travel direction
• In some situations it may be helpful to reverse the travel direction for the pole position identification (e.g. for
linear motor at the end stop).
0 Field: CW
1 Field: CCW
Subindex 4: PPI (360°): Error tolerance

Error tolerance for the plausibility check
• If the rotor position detected via the encoder system is not within the tolerance zone around the position that is
output in a controlled manner, the pole position identification is aborted and the error response parameterised
is tripped.
15 ° 50 20 °
Subindex 5: PPI (360°): Absolute current amplitude

Display of the absolute current amplitude
0.00 A 42949672.95
 Write access  CINH  OSC  P  RX  TX Scaling: 1/100 UNSIGNED_32
________________________________________________________________
Overview of more objects available for

• Identification
• Control
• Diagnostics
 Tip!
The optimisation can be carried out using an oscilloscope.
Index Subindex Value / unit INFO

0x2825 0 CiA402 mode active [0] Operating mode [5] for PLI 360°
0x2824 0 Activation [1]
0x6040 0 0x0000 Simulation of the CiA state machine
0x2823 0 100 Progress bar
0x2832 0 0x0000 Diagnostics of oscilloscope variable
0x2C61 1 100 % PLI(360°) current amplitude
0x2C61 2 40 s PLI(360°) ramp time
0x2C61 3 Field: Clockwise [0] PLI(360°) direction of rotation
0x2C61 4 20° PLI(360°) error tolerance
0x2C61 5 4.81 A Display
0x2C03 2 -90.0° Detected pole position values
0x2C03 4 0.0°
0x2DDE 0 1850 Diagnostics of oscilloscope variable
0x2D83 2 0.03 A Diagnostics
0x2D83 3 0.04 A Diagnostics
0x2D83 4 -0.01 A Diagnostics
0x2DD1 3 0.00 A Diagnostics of oscilloscope variable
0x2DD1 1 0.01 A Diagnostics of oscilloscope variable
0x6073 0 150.0 % Motor control parameters
0x6075 0 3.400 A Reference for 0x2C61:1
0x2D46 1 16.5 A Motor protection parameters
0x2DDF 1 5.00 A User information regarding max. peak axis
current
0x2DDF 2 10.00 A User information regarding max. RMS axis
current
________________________________________________________________
5.10.3 Pole position identification PPI (min. movement)
 Danger!
The motor must not be braked or blocked during the pole position identification! For this
reason, this function is not permitted for hanging loads!
 Stop!
Check the correct parameterisation of the followng monitoring modes before carrying
out the pole position identification to prevent the motor from being permanently
damaged in the event of an error:
• Monitoring of the motor utilisation (I²xt) ( 254)
• Monitoring of the ultimate motor current ( 271)
If servo control for synchronous motor is set and if no error is pending, the current position is
memorised after controller enable, and the current is increased along a ramp for 10 s to 35 % of the
rated motor current. This will cause the rotor to align, which, however, is compensated by a position
control. If the rotor makes an electrical movement of more than 20°, an error message is output, and
the value measured is discarded. This might occur in the case of motors with considerable detent
torques.
If the current has reached its final value, a plausibility check is executed after a short interval: In
order to detect a non-permissible blocking of the motor, a positive and negative test angle (± 20°)
relative to the current position are defined after the identification. The motor must align itself to
these two test angles within a tolerance of 25 %.

• The motor must not be braked or blocked during the pole position identification.

The motion of the motor will maximally correspond to the set "Max. permissible motion" (Lenze
setting: 20°). If a greater motion is detected via the encoder system, the pole position identification
is cancelled and the parameterised error response (Lenze setting: Fault) is triggered.
________________________________________________________________
 How to execute the pole position identification PPI (min. movement):

(min. movement)" operating mode.

servo inverter.
Adapt pole position identification PPI (min. movement)

The above-described procedure for pole position identification can be adjusted to the respective
machine and the prevailing moments of inertia by means of the parameters described in the
following.
 Stop!
If there is no temperature monitoring in the motor and/or the I²xt motor monitoring and
the maximum current monitoring are not parameterised correctly, the motor might be
damaged permanently when the current amplitude is set too high (e.g. to the maximum
value!
Monitoring of the ultimate motor current ( 271)
0x2C62 | 0x3462 - Pole position identification PPI (min. movement)

1 PPI (min. movement): Current amplitude 25 % UNSIGNED_16
2 PPI (min. movement): Ramp time - current 10 s UNSIGNED_16
3 PPI (min. movement): Gain 0% UNSIGNED_16
4 PPI (min. movement): Reset time 62.5 ms UNSIGNED_16
5 PPI (min. movement): Max. move permitted 20 ° UNSIGNED_8
6 PPI (min. movement): Absolute current UNSIGNED_32
amplitude
________________________________________________________________
Subindex 1: PPI (min. movement): Current amplitude

Adjustment of the current amplitude in percent
• For large machines and high mass inertia values or for linear direct drives, the current amplitude usually has to
be increased.
• A Lenze setting of "100 %" corresponds to 35 % of the rated motor current (0x6075 or 0x6875 for axis B).
Note!
If the current amplitude is set to > 400 %, the device utilisation (Ixt) monitoring and/or one of the motor monitoring
functions may respond and cause the abort of the pole position identification.
1 % 1000 25 %
Subindex 2: PPI (min. movement): Ramp time - current

Adjustment of the rate of rise of the current in percent
1 s 600 10 s
Subindex 3: PPI (min. movement): Gain

Adjustment of the proportional gain of the PI controller
• With the Lenze setting "0", the PI controller works as an I-controller.
0 % 1000 0 %
Subindex 4: PPI (min. movement): Reset time

Adjustment of the PI controller reset time
• For this, observe the following setting details:
• In order to be able to compensate a positional variation faster, first the reset time should be reduced. If this
does not result in the desired behaviour, the proportional gain can be increased.
• Ensure that the position control does not get unstable. We therefore recommend to use an I controller.
0.1 ms 6000.0 62.5 ms
Subindex 5: PPI (min. movement): Max. move permitted

Adjustment of the permitted movement
• The pole position identification comprises a monitoring function for the follow-up control. If a movement
greater than the permissible movement set is detected by the encoder system, the pole position identification is
aborted and the error response parameterised is tripped:
• In order to detect a non-permissible blocking of the machine, a positive and negative test angle relative to the
current position are defined after the identification. The machine must align itself to these two test angles
within a tolerance of 25 %. The size of the test angle corresponds to the max. move permitted set here.
1 ° 90 20 °
________________________________________________________________
Subindex 6: PPI (min. movement): Absolute current amplitude

Display of the absolute current amplitude
0.00 A 42949672.95
 Write access  CINH  OSC  P  RX  TX Scaling: 1/100 UNSIGNED_32
5.10.4 Pole position identification PPI (without movement)
This function extension is available from version 01.03!
 Note!
During the pole position identification, the error 0xFF13 ("identification cancelled") may
occur. This may be an indication that the motor features are not suitable for this PLI
process.
After controller enable, a defined pulse pattern is output which provides currents up to
approximately maximum motor current. The respective currents are measured. Based on these
currents, the field distribution can be detected so that the pole position can be calculated.
Afterwards, the controller is inhibited automatically.
The pole position identification (without movement) does not require any further
parameterisation.
________________________________________________________________

• The three motor phases and the motor encoder have to be wired according to the specifications
given in the i700 hardware manual.
• Please observe the notes from the Selection criteria for using the suitable pole position
identification section.

The current test pulses cause audible engine noises that can be increased by the machine mechanics
depending on the mechanical coupling!
 How to execute the pole position identification (without movement):

PPI (without movement)" operating mode.

servo inverter.
________________________________________________________________
Optional settings (starting performance)

Optionally, a PLI without motion can be activated after switching on the i700 servo inverter.
 Danger!
Each pole position identification causes an update of the pole position set in the device!
Therefore, ensure that the response to open circuit in the feedback system is set to Lenze
setting "1: Fault" in 0x2C45 (or 0x3445 for axis B)!
Otherwise, the status of the feedback system in case of open circuit is undefined and the
pole position can assume any values. There is a danger that the machine accelerates in
an uncontrolled way after pole position identification!
 Note!
The process of the pole position identification only lasts some milliseconds. During the
pole position identification, the device status does not change. Only after the pole
position identification, the "Switched on" device status changes to the "Operation
enabled" device status.
0x2C63 | 0x3463 - pole position identification PLI (without movement)
From version 01.05

1 Behaviour after switch-on 0: No operation UNSIGNED_8
Subindex 1: Behaviour after switch-on

Starting performance (without or with PLI before starting) in case of synchronous motor (SM) servo control
• In case of all other control modes, the setting has no influence.
0 No Operation In the Lenze setting, the behaviour is the same as before.
1 PPI at initial switch-on and after encoder error After the first controller enable and after each encoder
only wire breakage, a PLI without movement takes place.
Note:
In order that the PLI is executed after each encoder open
circuit, the response to open circuit in the feedback
system has to be set to the Lenze setting "1: Fault" in
0x2C45 (or 0x3445 for axis B). Otherwise, the status of
the feedback system in case of open circuit is undefined
and the pole position can assume any values. There is a
danger that the machine accelerates in an uncontrolled
way after pole position identification!
2 PPI after every switch-on After every controller enable, a PLI without movement is
carried out in advance.
5.11 Setting control loops
________________________________________________________________
Subsequent to the motor parameterisation, the different control loops must be set. For quick
commissioning, the calculations and settings can be carried out automatically using the
commissioning functions of the servo inverter. For manual setting, applicable equations are offered
in the following subchapters, too.
The following table shows the corresponding commissioning steps required for the different
control types and motors:
Commissioning step Servo control Servo control V/f characteristic

SM ASM control
Setting and optimising the current controller () () 1

Determining the total moment of inertia  
Setting the speed controller  
Setting the position controller  
Setting the field controller (ASM) ()
Setting the field weakening controller (ASM) ()
Information on the following control loops/commissioning steps for the V/f characteristic control can be found in
the chapter "Parameterising the V/f characteristic control"
Set Imin controller 
Torque increase in the lower speed range ("Boost" function)
Set Imax controller 
Defining the behaviour at the current limit (Imax controller)
Set "restart on the fly" controller 
"Flying restart" function
 Required
() Only required for other manufacturers' motors
1
Only required if voltage vector control, DC-injection braking, or flying restart process is activated.
5.11.1 Setting and optimising the current controller
 Note!
For a servo control, the current controller should always be optimised if a motor of
another manufacturer with unknown motor data is used!
For a V/f characteristic control, the current controller only has to be optimised if voltage
vector control is used, or if DC-injection braking or the flying restart process is activated.
The control system includes two current controllers, a direct-axis current controller and a cross
current controller, whose parameterisation is carried out identically. The direct-axis current
controller controls the field-producing current (D current). The cross current controller controls the
torque-producing current (Q current). There is a coupling between the two control loops which
makes every actuation of every one of the controllers occur as fault in the control loop of the other
controller. This coupling can be compensated for by activating the current controller feedforward
control via object 0x2941 (or 0x3141 for axis B).
________________________________________________________________
For the automatic calculation of the two controller parameters, the "Current controller: Calculate
controller parameters" function is provided via object 0x2822 (or 0x3022 for axis B).
• The calculating function is based on the stator resistance (0x2C01:2 or 0x3401:2 for axis B) and
the stator leakage inductance (0x2C01:3 or 0x3401:3 for axis B). Thus, these motor parameters
have to be parameterised before. This can be done either by entering the data sheet values
manually or by a motor parameter identification run.
 Note!
If one of the values calculated exceeds the upper object limit, the value is limited to the
limit value.
The controller parameters calculated can be optimised subsequently by means of an experimental

adjustment process the procedure of which is described in the following subchapter, Manual test
mode "Current pulse".
Equations for calculating the gain and the reset time for the synchronous motor
L ss L ss
V p = ------------------------- T n = ------
T Dead time Rs
0x2942:1 0x3142:1 Vp Current controller gain V/A

0x2C01:3 0x3401:3 Lss Motor stator inductance H
- - Tdead time Equivalent time constant for analog detection and scanning s
= 0.00034 s (340 μs)
0x2942:2 0x3142:2 Tn Current contr. reset time s
Equations for calculating the gain and the reset time for the asynchronous motor
σ ⋅ Ls 2 ⋅ L ss σ ⋅ L s 2 ⋅ L ss
V p = ------------------------- ≈ ------------------------- T n = ------------ ≈ --------------
T Dead time T Dead time Rs Rs
0x2942:1 0x3142:1 Vp Current controller gain V/A

- - σ Leakage
- - Ls Motor stator inductance H
0x2C01:3 0x3401:3 Lss Motor stator leakage inductance H
- - Tdead time Equivalent time constant for analog detection and scanning s
= 0.00034 s (340 μs)
0x2942:2 0x3142:2 Tn Current contr. reset time s
 Tip!
To ensure a smooth transition to the field weakening range, it is recommended to apply the
equations for the synchronous motor for the asynchronous motor as well.
________________________________________________________________
0x2941 | 0x3141 - Current controller: Feedforward control
Activate/deactivate the current controller feedforward control

• Since the positioning movements are known, they can be precontrolled in order to slightly increase the
achievable dynamic performance of the control loop.
Note!
A successful feedforward control requires knowledge of the equivalent circuit data of the motor. If only estimated
values are available, the feedforward control should not be activated.

0 Off
1 Activate
0x2942 | 0x3142 - Current controller: Parameter

1 Current controller: Gain 148.21 V/A UNSIGNED_32
2 Current controller: Reset time 3.77 ms UNSIGNED_32
Subindex 1: Current controller: Gain

0.00 V/A 750.00 148.21 V/A
Subindex 2: Current controller: Reset time

0.01 ms 2000.00 3.77 ms
0x2943 | 0x3143 - Motor: Current setpoint - filter time

0.00 ms 10.00 0.00 ms
________________________________________________________________
5.11.1.1 Manual test mode "Current pulse"

The current controller must be adapted to the electrical characteristics of the motor – stator
resistance and stator inductance. For an experimental adjustment, the manual test mode "Current
pulse" can be used.
 Note!
This test mode is intended for the adjustment of the current controller in the "servo
control for synchronous motor/asynchronous motor" mode and not for the adjustment
of the Imax controller in the "V/f characteristic control (VFC)" mode!
In the manual "Current pulse" test mode, setpoint step-changes are applied to the current controller
input after controller enable. The step responses then either have to be recorded using the
oscilloscope and clamp-on ammeter, or by means of the i700 servo inverter oscilloscope function.
By evaluating the step responses, it is the objective to optimise the two current controller
parameters "gain" and "reset time" so that a quick current characteristic free of harmonics is
obtained. (See the following instructions.)
Motors with individual pole windings, which can feature very distinct saturation phenomena in the
stator leakage inductance, satisfactory results are possibly only achieved with a current-dependent
correction of the current controller parameters. For this purpose, a characteristic is stored in the i700
servo inverter, describing the current dependence of the stator leakage inductance and correcting
the current controller gain. Correction of the stator leakage inductance (Lss)...
 Stop!
In the case of the synchronous motor, a jerky compensating movement occurs after
controller enable if the pole position of this movement does not correspond to the
starting angle.
Motor phase U is supplied with a DC current, the level of which is determined via the following
equation on the left. Motor phases V and W then carry half of this DC current, respectively (negative;
from the motor).
Equations for calculating the DC currents in motor phases U, V, W
I rated I rated
I phase_U = 2 ⋅ I test [%] ⋅ --------------- I phase_V, _W = -0.5 ⋅ 2 ⋅ I test [%] ⋅ ---------------
100 % 100 %
0x2D83:2 0x3583:2 Iphase_U Present current in motor phase U A

0x2D83:3 0x3583:3 Iphase_V Present current in motor phase V A
0x2D83:4 0x3583:4 Iphase_W Present current in motor phase W A
0x2835:1 0x3035:1 Itest Setpoint current for manual test mode %
0x6075 0x6875 Irated Rated motor current A
________________________________________________________________

• The motor has to be completely parameterised.
• The monitoring of the motor utilisation (I²xt) has to be parameterised and switched actively.
• For the test, the rotor of synchronous motors has to be positioned in the pole centre. Some
synchronous motors may require an alignment and blocking in the pole centre.
• The use of the manual test mode "current/frequency" for one-time alignment of the rotor is
reasonable with the following settings:
R.m.s. value = 70 ... 100 %; frequency = 0 Hz; Starting angle = 0°
Manual test mode "current/frequency" ( 57)
• Afterwards fixing by applying the holding brake or using external fixing tools.
 Stop!
After the current controller has been adjusted, remove the mechanical fixing again!

The motor will align during the first controller enable, then usually it won't align anymore.
 How to adjust the current controller by means of the manual test mode "current pulse":
2. Calculate the starting parameters for the current controller based on the parameterised
motor data.
• For the automatic calculation, the "Current controller: Calculate controller parameters"
function is available via the object 0x2822 (or 0x3022 for axis B). Setting and
optimising the current controller ( 104)
• Optionally, a manual determination is possible as well.
3. Set object 0x2825 (or 0x3025 for axis B) to "3" to change to the "Current pulse" test mode.
4. Set setpoint current for manual test mode in the object 0x2835:1 (or 0x3035:1 for axis B).
The number of test points for the setpoint current results from the permissible current
range of the motor and its characteristic (e.g. the Lss saturation for PM servo motors).
5. Enable the servo inverter for a short time to start the test mode.
After 100 ms, controller enable is cancelled automatically by the servo inverter, avoiding
the risk of an undesired motor heat-up.
________________________________________________________________
6. Record the step response of the motor current with the oscilloscope function of the »PLC
Designer«/»EASY Starter«.
• Parameters to be recorded:
Actual D current (0x2DD1:1 or 0x35D1:1 for axis B)
Setpoint D current (0x2DD1:3 or 0x35D1:3 for axis B)
D voltage (0x2DD7:4 or 0x35D7:4 for axis B)
• Oscilloscope settings: Sampling rate = 0.0625 ms; time base = 2 ... 5 ms
Alternatively, the step response of the motor current in the motor phase U can be
measured by means of an oscilloscope and clamp-on ammeter.
7. Evaluate the step response:
Vp < Vp opt. Vp = Vp opt. Vp > Vp opt.
I I I
Tn < Tn opt.
t t t
I I I
Tn = Tn opt.
t t t
I I I
Tn > Tn opt.
t t t
8. Adjust the gain and reset time of the current controller.

9. Repeat steps 3 ... 6 iteratively until the optimum step response of the motor current is
reached.
• In the optimised state the current rise time typically is 0.5 ... 1 ms.
• If the adjustment does not provide any satisfactory results, the current controller
feedforward control via object 0x2941 (or 0x3141 for axis B) can be activated
additionally. Then steps 3 ... 6 are to be repeated.
11. For permanent storage: Upload changed current controller parameters (0x2942 or 0x3142
for axis B) from the i700 servo inverter into the Controller.
________________________________________________________________
5.11.2 Determining the total moment of inertia
The total moment of inertia is composed as follows:
Equation for calculating the total moment of inertia
J Total = J Motor + J Holding brake + J Gearbox * + J Load *
- - Jtotal Total moment of inertia kg m2

0x2910:1 0x3110:1 JMotor When a Lenze motor is selected, this value is automatically kg cm2
set.
- - JHolding brake This value can be determined from the catalog data and kg m2
added to the values mentioned above.
0x2910:2 0x3110:2 JGearbox* Sum of all other moments of inertia of the system. Here, it is kg cm2
to be considered that these are values that have to be
JLoad*
transformed to the motor shaft (marked by *).
For determining the total moment of inertia, the i700 servo inverter is triggered by the higher-level
Controller and a test path (motion profile) is executed. After a mathematical procedure, the total
mass moment of inertia is determined from the detected speed and torque characteristics. The load
moment of inertia results from the difference between the total moment of inertia and the
moment of inertia of the motor (techn. data of the motor).
For determining the other moments of inertia (JGearbox + JLoad), there are the following options:
• Extraction from the rated data of the drive dimensioning
• Determination based on data sheets of the components
• Calculation/estimation (for simple kinematic arrangements)
• Empirical determination by test mode with trapezoidal motion profile
For the calculation, you can use e.g. the new Lenze app "Formulae and tables".
 Tip!
The "Formulae and tables" app for smartphones can be found in the internet:
http://www.lenze.com  Download
The "Formulae and tables" app contains basic formulae of kinematics, dynamics and force
and torques as well as work, power, energy and control engineering and can be filled with
data at any time.
The sum of the set moments of inertia (JMotor + JGearbox + JLoad) forms the basis for an initial
calculation of the speed controller gain with the "Speed controller: Calculate controller parameters"
(0x2822 or 0x3022 = 5).
________________________________________________________________
 Note!
The reduced moment of inertia of the load (0x2910:2 or 0x3110:2 for axis B) is included
• directly in the calculation of the speed controller (0x2822 or 0x3022 = 5) and
• indirectly in the calculation of the position controller (0x2822 or 0x3022 = 6).
Thus, give the data with all due consideration.
0x2910 | 0x3110 - Moments of inertia

1 Moment of inertia: Motor 0.14 kg cm² UNSIGNED_32
2 Moment of inertia: Load 0.00 kg cm² UNSIGNED_32
3 Moment of inertia: Motor-load coupling 0: Rigid system UNSIGNED_8
Subindex 1: Moment of inertia: Motor

0.00 kg cm² 20000000.00 0.14 kg cm²
Subindex 2: Moment of inertia: Load

0.00 kg cm² 20000000.00 0.00 kg cm²
Subindex 3: Moment of inertia: Motor-load coupling

0 Rigid system
1 Elastic system
2 System with backlash
________________________________________________________________
5.11.3 Setting the speed controller
For the automatic calculation of the gain and the reset time, the "Speed controller: Calculate
controller parameters" function is provided via object 0x2822 (or 0x3022 for axis B). This serves to
calculate speed controller starting values. To ensure optimal operation, we recommend a manual
follow-up optimisation.
The following equations apply to a rigid system. For elastic systems and systems with backlash, the
gain is reduced. The moment of inertia required for the calculation usually consists of the moment
of inertia of the motor and the load moments of inertia transformed to the motor side.
Equations for calculating the gain and the reset time (applicable for rigid systems)
J 2π 2
V p = ---------------------------------------------------------------------------- ⋅ ------- T n = a ⋅ ( T Filters + T Current controller )
a ⋅ ( T Filters + T Current controller ) 60
0x2900:1 0x3100:1 Vp Speed controller gain Nm/rpm

- - J Moment of inertia = JMotor + sum (JLoad) kg m2
- - a Unit for the phase reserve
(recommendation: a = 4 ≡ phase reserve of 60°)
0x2904 0x3104 Tfilter Actual speed value filter time constant s
- - Tcurrent Equivalent time constant of the current control loop s
controller = 0.0005 s (500 μs)
0x2900:2 0x3100:2 Tn Speed controller reset time s
Special case of the linear motor

Here a re-calculation from a linear system to a rotary system must be made. Therefore, via the
feedback system a degree of freedom results for the determination of the number of pole pairs.
• For a rotary system, the number of pole pairs specifies the ratio of electrical and mechanical
revolution, the number of encoder increments being defined via one mechanical revolution.
• In the case of a linear system, the user is free to decide for which length he or she wants to
specify the number of encoder increments. Usually, the number of increments is given for a pole
distance or for the total length of the linear scale. If the number of increments = "number of
increments for one pole distance" is selected, a motor with the number of pole pairs zp = 1 is
created.
The effective moment of inertia for a linear motor can be calculated according to the following
equations. With this J value, the equations shown above can be used to calculate the speed
controller gain and reset time.
Equations for calculating the effective moment of inertia for the linear motor
s zp ⋅ 2τ Pole pair 2
zp = Integer  ------------------------ J = m ⋅  -----------------------------------
 2τ Pole pair  2π 
- - s Length on which the specification for the number of encoder m

increments is based.
(e.g. per pole distance or total length)
- - 2τpole pair Pole distance of the permanent magnets, pole pair width m
- - J Moment of inertia = JForcer + JSlide + JLoad kg m2
- - m Moving mass = mForcer + mSlide + mLoad kg
________________________________________________________________
0x2900 | 0x3100 - Speed controller: Parameter

1 Speed controller: Gain 0.00033 Nm/rpm UNSIGNED_32
2 Speed controller: Reset time 17.6 ms UNSIGNED_16
3 Speed controller: Rate time 0.00 ms UNSIGNED_16
Subindex 1: Speed controller: Gain

0.00000 Nm/rpm 20000.00000 0.00033 Nm/rpm
Subindex 2: Speed controller: Reset time

1.0 ms 6000.0 17.6 ms
Subindex 3: Speed controller: Rate time

0.00 ms 3.00 0.00 ms
0x2901 | 0x3101 - Speed controller: Gain - adaptation

0.00 % 200.00 100.00 %
 Write access  CINH  OSC  P  RX  TX Scaling: 1/100 UNSIGNED_16
0x2902 | 0x3102 - Speed controller: Load value I component

-1000.0 % 1000.0 0.0 %
 Write access  CINH  OSC  P  RX  TX Scaling: 1/10 INTEGER_16
0x2903 | 0x3103 - Speed: Speed setpoint - filter time

0.0 ms 50.0 0.0 ms
________________________________________________________________
0x2904 | 0x3104 - Speed: Actual speed - filter time
Time constant for actual speed filter

• In order to maximise the dynamics of the speed control loop, the actual speed filter should be operated with a
time constant as low as possible. The lower the time constant the higher the gain of the speed controller. Since
actual value filters have the task to dampen measuring errors or interference components, it must be found a
compromise between filter task and the resulting delay.
• When a Lenze motor is selected, a starting value is automatically preset for the time constant in order that most
of the applications will be feasible. Modifications required for individual cases have to be determined
empirically, e.g. due to
• higher requirements in the drive dynamics,
• lower quality of the encoder signals,
• very long encoder cables.

0.0 ms 50.0 0.6 ms
________________________________________________________________
5.11.4 Setting the position controller
For the automatic calculation of the gain, the "Position controller: Calculate controller parameters"
function is provided via object 0x2822 (or 0x3022 for axis B).
Equations for calculating the gain
1
V p = ----------------------- T Sum = T Filters + T Current controller
32 ⋅ T Sum
0x2980 0x3180 Vp Position controller: Gain Hz

0x2904 0x3104 Tfilter Actual speed value filter time constant s
0x2980 | 0x3180 - Position controller: Gain

0.00 1/s 1000.00 28.40 1/s
0x2981 | 0x3181 - Position controller: Gain - adaptation

0.00 % 200.00 100.00 %
0x2982 | 0x3182 - Position controller: Output signal limitation

0 [n unit] 480000 480000 [n unit]
0x2983 | 0x3183 - Position: Select a new actual position

-2147483647 [Pos unit] 2147483647 0 [Pos unit]
 Write access  CINH  OSC  P  RX  TX INTEGER_32
________________________________________________________________
0x2984 | 0x3184 - Determine target position: Mode

0 Absolute: (target position = 0x2983)
1 Relative: (actual position = actual position +
0x2983)
________________________________________________________________
5.11.5 Setting the field controller (ASM)
For motors with great rotor time constants or small rotor resistances, very high gain factors are
calculated. Since the setting range of the field controller is limited to the double rated magnetising
current, the field control loop in the case of these motors tends to a two-point response when the
values calculated are entered.
 Tip!
Starting from a calculated gain factor of approx. 1000 A/Vs, do not set the full value
anymore.
Example: Calculated value = 10000 A/Vs  setting = 3000 A/Vs
For the automatic calculation of the controller parameters, the "Field controller: Calculate controller
parameters" function is provided via object 0x2822 (or 0x3022 for axis B).
Equations for calculating the gain and the reset time
L
 ----r- 
1  Tn Rr 
V p ≈ ----------------------------------------------------------  V p = --------------------------------------------------------------------------- = ----------------------------------------------------------
4 ⋅ R r ⋅ T Current controller  4 ⋅ K Distance ⋅ T Current controller 4 ⋅ L h ⋅ T Current controller
 
Lr
T n = T r = -----
Rr
0x29C0:1 0x31C0:1 Vp Field controller gain A/Vs

0x29C0:2 0x31C0:2 Tn Field contr. reset time s
0x2C02:2 0x3402:2 Lh Mutual motor inductance (ASM) H
0x2C02:1 0x3402:1 Rr Motor rotor resistance (ASM) Ω
- - Tr Motor rotor time constant
- - Kpath Gain of the controlled path
- - Lr Motor rotor inductance (ASM) H
0x29C0 | 0x31C0 - Field controller: Parameter

1 Field controller: Gain 165.84 A/Vs UNSIGNED_32
2 Field controller: Reset time 15.1 ms UNSIGNED_16
Subindex 1: Field controller: Gain

0.00 A/Vs 50000.00 165.84 A/Vs
________________________________________________________________
Subindex 2: Field controller: Reset time

1.0 ms 6000.0 15.1 ms
5.11.6 Setting the field weakening controller (ASM)
Since the controlled system gain changes with the speed, the field weakening controller is corrected
via the speed.
For the automatic calculation of the controller parameters, the "Field weakening controller:
Calculate controller parameters" function is provided via object 0x2822 (or 0x3022 for axis B).
Equations for calculating the gain and the reset time
2π
Vp = 0 V Distance_Fs = p ⋅ n Transition ⋅ -------
60
V Distance_Fs L r L h + L ss
T n = 4 ⋅ ----------------------------- ⋅ ( T EF + T Filters ) T EF = T r = ----- ≈ ------------------
60 Rr Rr
0x29E0:1 0x31E0:1 Vp Field weakening controller gain Vs/V

- - Vpath_Fs Gain of the controlled path
- - p Number of pole pairs
- - ntransition Speed at which the field weakening is approximately rpm
initiated.
0x29E0:2 0x31E0:2 Tn Field weak. contr. reset time s
- - TEF Equivalent time constant of the field control loop
0x29E3 0x31E3 Tfilter Filter time constant for the required voltage s
- - Tr Motor rotor time constant
- - Lr Motor rotor inductance
0x2C02:2 0x3402:2 Lh Mutual motor inductance (ASM) H
0x2C01:3 0x3401:3 Lss Motor stator leakage inductance (ASM) or H
motor stator inductance (SM)
0x2C02:1 0x3402:1 Rr Motor rotor resistance (ASM) Ω
0x29E0 | 0x31E0 - Field weakening controller: Parameter

1 Field weakening controller: Gain 0.000 Vs/V UNSIGNED_32
2 Field weakening controller: Reset time 2000.0 ms UNSIGNED_32
Subindex 1: Field weakening controller: Gain

0.000 Vs/V 2147483.647 0.000 Vs/V
________________________________________________________________
Subindex 2: Field weakening controller: Reset time

1.0 ms 240000.0 2000.0 ms
0x29E1 | 0x31E1 - field: Field set value limitation

5.00 % 100.00 100.00 %
0x29E2 | 0x31E2 - DC link circuit voltage: Filter time

1.0 ms 1000.0 25.0 ms
0x29E3 | 0x31E3 - motor: Actual voltage - filter time

1.0 ms 1000.0 25.0 ms
0x29E4 | 0x31E4 - Voltage reserve range
From version 01.03

Voltage reserve range at the transition point to the field weakening
• Only relevant for servo control for asynchronous motor (selection "2" in 0x2C00 or 0x3400 for axis B).

1 % 20 5 %
________________________________________________________________
5.11.7 Field weakening operation - synchronous motor (SM)
The control of the i700 servo inverter permits the operation of a synchronous motor outside the
voltage range. If a motor is selected in the »Easy Starter«, the control is automatically
parameterised.
In order to improve the transition from the base speed range to field weakening, we recommend the
activation of the current controller feedforward control via the object 0x2941 (or 0x3141 for axis B).
• The current controller feedforward control is determined via the following parameters:
• Motor stator resistance (0x2C01:2 or 0x3401:2 for axis B)
• Motor stator leakage inductance (0x2C01:3 or 0x3401:3 for axis B)
• e.m.f constant (0x2C03:1 or 0x3403:1 for axis B)
• If a third-party motor is to be operated in the field weakening range, the parameters mentioned
before have to be selected carefully.
 Stop!
Operation of synchronous motors outside the voltage range:
If a pulse inhibit is set in the servo inverter, e.g. in the case of controller inhibit or in the
event of an error, the DC bus will load up to the terminal voltage corresponding to the
actual speed (see equation below).
• At high speeds outside the voltage range, the terminal voltage may be higher than the
mains voltage!
• Connect a brake chopper to the DC bus to prevent the DC bus from reaching
impermissibly high voltages!
The terminal voltage approximately corresponds to the following equation:
Equations for calculating the terminal voltage
Rated mains voltage

V Terminal = Actual speed ⋅ -----------------------------------------------------
Rated motor speed
Axis A Axis B Description Dimension unit
0x2540:1 Rated mains voltage V

0x2C01:4 0x3401:4 Rated motor speed r/min
5.12 Fine adjustment des motor model
________________________________________________________________
The further commissioning steps are only required for servo controls if more stringent requirements
with regard to the torque linearity have to be met. During the commissioning process of Lenze
motors, typical values for the relevant parameters are provided. For motors of other manufacturers,
these values are to be requested from the motor manufacturer, or they have to be estimated.
5.12.1 Correction of the stator leakage inductance (Lss)...
...and the current controller parameters by means of the saturation characteristic

For the most part, the electrical characteristics of the motor are the relevant factors for an optimal
current controller setting (Vp, Ti), especially the stator resistance and the stator leakage inductance
(Lss). However, modern motors have their stator leakage inductance changed along with the
current level so that it is impossible to have an optimal current controller setting for all working
points at all times.
For applications with operating phases that involve very different current and torque requirements
and, at the same time, high requirements on dynamic drive behaviour, the i700 servo inverter
provides the possibility of the correction of the stator leakage inductance and the current controller
settings by means of the adjustable saturation characteristic.
The saturation characteristic is a typical characteristic of motors of one type/size. It does not depend
on the maximum process current of the motor in the prevailing application. Thus the defined values
should be based on the key data of the motors. These are rated motor current, peak motor current
for a limited time and the ultimate motor current.
The following picture shows a typical saturation characteristic of an MCS motor:
L/Ln
120 %
100 %
80 %
60 %
40 %
20 %
0% I/Imax
0% 10 % 20 % 30 % 40 % 50 % 60 % 70 % 80 % 90 % 100 %
[5-3] Saturation characteristic: Inductance referring to the inductance for rated current
The saturation characteristic represents the change in inductance (L/Ln) as a function of the motor
current (I/Imax). The variables of both axes which were scaled to a reference value are represented
as percentages.
• When a Lenze motor is selected, the saturation characteristic is already filled with values typical
of the series.
________________________________________________________________
 Note!
The saturation characteristic is not only used to correct the current controller, but it also
influences the current controller feedforward control (can be activated via object
0x2941 or 0x3141 for axis B).
Distribution of the grid points

• The saturation characteristic is represented by means of 17 grid points.
• The 17 grid points are spaced on the X axis at equal intervals (equidistantly) in a range of
0 ... 100 %. The 100% value of the X axis refers to the current value (max. motor current in the
process) set in object 0x2C05 (or 0x3405 for axis B).
• The Y values for the grid points can be accessed via the subindices of object 0x2C04 (or 0x3404
for axis B).
x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17

Vp [V/A]
Tn [ms]
Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]
[5-4] Saturation characteristic: Distribution of the grid points
• The 100 % value of a grid point refers to

• the set motor stator leakage inductance (0x2C01:3 or 0x3401:3 for axis B)
and
• the set current controller gain Vp (0x2942:1 or 0x3142:1 for axis B).
• Preferably select a display area of the grid points which includes at least the ultimate motor
current. The current controller step response is then recorded actively only until the grid point
with peak motor current. In order to prevent the motor winding from being overloaded, the
manual test mode "current pulse" should be used for recording. The grid points with current
setpoints above the peak motor current are determined through interpolation.
• When the saturation characteristics for motor types are determined, it makes sense in some
cases to select a scaled representation of the grid point distribution. This requires to know the
highest value of the quotient from "ultimate motor current / rated motor current" of the motor
series.
0x2C04 | 0x3404 - Motor: Lss saturation characteristic - inductance grid points (y)
From version 01.05, the correction by means of saturation characteristic via the subindex 18 can also be switched
off.
________________________________________________________________

1 Lss: y1 = L01 (x = 0.00 %) 165 % UNSIGNED_16
2 Lss: y2 = L02 (x = 6.25 %) 200 % UNSIGNED_16
3 Lss: y3 = L03 (x = 12.50 %) 146 % UNSIGNED_16
4 Lss: y4 = L04 (x = 18.75 %) 117 % UNSIGNED_16
5 Lss: y5 = L05 (x = 25.00 %) 97 % UNSIGNED_16
6 Lss: y6 = L06 (x = 31.25 %) 82 % UNSIGNED_16
7 Lss: y7 = L07 (x = 37.50 %) 71 % UNSIGNED_16
8 Lss: y8 = L08 (x = 42.75 %) 62 % UNSIGNED_16
9 Lss: y9 = L09 (x = 50.00 %) 55 % UNSIGNED_16
10 Lss: y10 = L10 (x = 56.25 %) 50 % UNSIGNED_16
11 Lss: y11 = L11 (x = 62.50 %) 46 % UNSIGNED_16
12 Lss: y12 = L12 (x = 68.75 %) 43 % UNSIGNED_16
13 Lss: y13 = L13 (x = 75.00 %) 42 % UNSIGNED_16
14 Lss: y14 = L14 (x = 81.25 %) 41 % UNSIGNED_16
15 Lss: y15 = L15 (x = 87.50 %) 41 % UNSIGNED_16
16 Lss: y16 = L16 (x = 93.25 %) 41 % UNSIGNED_16
17 Lss: y17 = L17 (x = 100.00 %) 41 % UNSIGNED_16
18 Motor: Lss saturation characteristic - 1: Active UNSIGNED_16
Activation
0x2C05 | 0x3405 - Motor: Lss saturation charcteristic - reference for current grid points (x)
Maximum motor current

• Serves as a reference value for the scaled current values of the X axis of the saturation characteristic.

0.0 A 500.0 5.4 A
________________________________________________________________
5.12.1.1 Example for determining the saturation characteristic
Given values:
• Rated motor current: 5 A
• Maximum motor current: 20 A
• Maximum process current: 15 A
Procedure:
1. Deactivate correction: Set all subindices of object 0x2C04 (or 0x3404 for axis B) to 100 %.
2. Use object 0x2C05 (or 0x3405 for axis B) to set the maximum current up to which the motor is
to be actuated in the process (in this example "15 A").
3. Adjust the current controller with different current setpoints by means of the manual test mode
"current pulse" and take down the corresponding settings for Vp and Tn.
• The procedure is described in the Manual test mode "Current pulse" chapter. ( 107)
• The current setpoints to be set for the corresponding adjustment in object 0x2835:1 (or
0x3035:1 for axis B) result from the scaling of the maximum process current to the X axis of
the saturation characteristic.
• The grid points which are required to define the saturation characteristic with a sufficient
quality varies from motor to motor and thus has to be determined individually.
• For this example, currents that are part of the grid points 5, 9, 13, and 15 have been selected,
and a measurement at rated motor current was carried out additionally:

Vp [V/A]
Tn [ms]
Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]
0A 3.75 A 5A 7.5 A 11.25 A 12.38 A 15 A

 Rated motor current
 Maximum process current (≡ 100 %)
[5-5] Saturation characteristic: Distribution of the grid points
Specifications for adjustment Measured values

Grid point Scaling Current setpoint Vp [V/A] Tn [ms]
5 0.25 * 15 A = 3.75 A 5.2 6.5
9 0.5 * 15 A = 7.5 A 2.6 4
13 0.75 * 15 A = 11.25 A 1.4 2.5
15 0.875 * 15 A = 12.38 A 1.0 2
17 1.0 * 15 A = 15 A 0.7 1.7
Rated motor current = 5A 3.8 5
________________________________________________________________
4. Set the characteristic by means of the determined values for Vp (but do not enter any values in
0x2C04 or 0x3404 for axis B yet).
• Here, the values of the grid points which have not been adjusted must be determined by
interpolation between two values.
• Note: In this example it was assumed that the inductance does not change considerably
below 3.75 A. For this reason the same Vp value resulting from a measurement with a motor
current of 3.75 A was used for all grid points below 3.75 A.

Vp [V/A]
5.2
3.8
2.6
1.4
1.0
0.7
0 Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]
0A 3.75 A 5A 7.5 A 11.25 A 12.38 A 15 A
[5-6] Determined saturation characteristic
5. Set the gain Vp and the reset time Tn to the values that have been determined during the
adjustment with rated motor current (in this example "5 A"):
• Set 0x2942:1 (or 0x3142:1 for axis B) = "3.8 V/A".
• Set 0x2942:2 (or 0x3142:2 for axis B) = "5 ms".
6. Scale the Vp values on the Y axis of the characteristic to a Vp setting of "3.8 V/A":

Vp [%]
150
Vp = "3.8 V/A" º 100 %
100
50
0 Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]
0A 3.75 A 5A 7.5 A 11.25 A 12.38 A 15 A
[5-7] Scaling of the determined saturation characteristic to "100 % Vp"
________________________________________________________________
7. Enter the Vp values in per cent from the grid points into the subindices of object 0x2C04 (or
0x3404 for axis B):
Setting for grid points 1 ... 17 in [%]

y1 y2 y3 y4 y5 y6 y7 y8 y9 y10 y11 y12 y13 y14 y15 y16 y17
137 137 137 137 137 109 92 80 68 61 53 45 37 32 26 22 19

Vp [%]
137
Vp = "3.8 V/A" º 100 %
109
92
80
68
19
0 Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]
[5-8] Grid point values of the saturation characteristic determined
8. Enter the maximum process current ("15 A") as maximum current in object 0x6073 (or 0x6873
for axis B).
• With these settings, the same current characteristic should occur, irrespective of the current
magnitude.
• Since the current controller gain is now corrected actively, the step responses may differ
slightly compared to the previous measurements. In this case, the current controller
parameters must be optimised one last time.
9. For permanent storage: Upload the detected characteristic from the i700 servo inverter into the
Controller.
________________________________________________________________
5.12.2 Synchronous motor (SM): Compensating for temperature and current influences
The properties of the permanent magnets of permanently excited synchronous motors (SM, PSM)
depend on the temperature and the amperage. The relationship between motor current and
resulting torque changes correspondingly.
The influences of the temperature and the amperage on the magnetisation can be taken into
account by the motor control and hence be compensated for.
• To compensate for the temperature dependence of the magnets, the temperature coefficient
(kT) of the permanent magnet must be entered in object 0x2C03:3 (or 0x3403:3 for axis B)
(linear characteristic).
• To compensate for the current dependence of the magnets, multiple grid points of a
characteristic must be entered in the following object (non-linear characteristic):
0x2C06 | 0x3406 - Motor (SM): Magnet characteristic (current) - grid points

1 Magnet characteristic: x1 = i01/iN 0% UNSIGNED_16
2 Magnet characteristic: y1 = kT01/kTN 100 % UNSIGNED_16
3 Magnet characteristic: x2 = i02/iN 100 % UNSIGNED_16
________________________________________________________________
5.12.3 Asynchronous motor (ASM): Identifying the Lh saturation characteristic
In case of an asynchronous motor, the relationship between current and torque is basically
determined by the saturation behaviour of the mutual inductance. If the achieved torque accuracy,
especially in the field weakening range should not be sufficient, the accuracy can be increased by
the individual identification of the saturation characteristic. This behaviour can be measured by the
i700 servo inverter.

• Before this commissioning function is executed, the inverter characteristic and the motor
parameters have to be identified.
Compensating for inverter influence on output voltage ( 65)
Determine motor parameters automatically via "motor parameter identification" ( 72)

Standstill
 How to identify the LH saturation characteristic:

2. Set object 0x2825 (or 0x3025 for axis B) to "10" to change to the "Determine Lh saturation
characteristicn" operating mode.
Notes:
• The identification of the Lh saturation characteristic can take up to 11 minutes. The
progress can be checked in the object 0x2823 (or 0x3023 for axis B).
• By means of controller inhibit, the started procedure can be cancelled any time, if
required. Characteristic values that have already been determined are rejected in this
case.

...the controller will be inhibited automatically and the points of the determined LH characteristic
will be set in object 0x2C07 (or 0x3407 for axis B).
servo inverter.

________________________________________________________________
Loading the standard Lh saturation characteristic

If an incorrect Lh saturation characteristic has been determined or none at all, it is possible to load
a device-typical standard Lh characteristic.
 How to load the standard Lh saturation characteristic:

2. For permanent storage: After completion of the procedure, upload the Lh saturation
characteristic set in 0x2C07 (or 0x3407 for axis B) to the controller from the i700 servo
inverter.
0x2C07 | 0x3407 - Motor (ASM): Lh saturation characteristic - inductance grid points (y)

1 Lh: y1 = L01 (x = 0.00 %) 118 % UNSIGNED_16
2 Lh: y2 = L02 (x = 6.25 %) 118 % UNSIGNED_16
3 Lh: y3 = L03 (x = 12.50 %) 118 % UNSIGNED_16
4 Lh: y4 = L04 (x = 18.75 %) 117 % UNSIGNED_16
5 Lh: y5 = L05 (x = 25.00 %) 116 % UNSIGNED_16
6 Lh: y6 = L06 (x = 31.25 %) 114 % UNSIGNED_16
7 Lh: y7 = L07 (x = 37.50 %) 111 % UNSIGNED_16
8 Lh: y8 = L08 (x = 43.75 %) 107 % UNSIGNED_16
9 Lh: y9 = L09 (x = 50.00 %) 100 % UNSIGNED_16
10 Lh: y10 = L10 (x = 56.25 %) 93 % UNSIGNED_16
11 Lh: y11 = L11 (x = 62.50 %) 86 % UNSIGNED_16
12 Lh: y12 = L12 (x = 68.75 %) 78 % UNSIGNED_16
13 Lh: y13 = L13 (x = 75.00 %) 71 % UNSIGNED_16
14 Lh: y14 = L14 (x = 81.25 %) 64 % UNSIGNED_16
15 Lh: y15 = L15 (x = 87.50 %) 57 % UNSIGNED_16
16 Lh: y16 = L16 (x = 93.75 %) 50 % UNSIGNED_16
17 Lh: y17 = L17 (x = 100.00 %) 42 % UNSIGNED_16
________________________________________________________________
5.12.4 Estimating the optimal magnetising current
In case of the given Lh saturation behaviour, there is (usually) a magnetising current where the
torque efficiency is highest. This magnetising current can be determined by the i700 servo inverter.
• The execution of this function also changes the Lh saturation characteristic (0x2C07 or 0x3407
for axis B) (compressed, extended).
• After executing the function, the magnetising current determined is entered in object 0x2C02:3
(or 0x3402:3 for axis B).

• Before this commissioning function is executed, the motor parameters and the Lh saturation
characteristic have to be identified.
Determine motor parameters automatically via "motor parameter identification" ( 72)
Asynchronous motor (ASM): Identifying the Lh saturation characteristic ( 128)

Standstill
 How to estimate the optimal magnetising current:

2. For permanent storage: Upload the changed controller parameters to the controller from
the i700 servo inverter after the procedure has been completed:
• Lh saturation characteristic (0x2C07 or 0x3407 for axis B)
• Magnetising current (0x2C02:3 or 0x3402:3 for axis B)
5.13 Parameterising filter elements in the setpoint path
________________________________________________________________
5.13.1 Jerk limitation
Max. acceleration change
0x2945 | 0x3145 - Torque: Setpoint jerk limitation

0.1 % 400.0 400.0 %
5.13.2 Notch filters (band-stop filters)
Due to the high dynamic performance or the high limit frequency of the closed current control loop,
mechanical natural frequencies can be excited, which can result in resonance and thus cause the
speed control loop to become unstable.
In order to suppress or damp these resonant frequencies, two notch filters are integrated in the
speed control loop of the controller, which can be parameterised. In the Lenze setting, these filters
are switched off:
Axis A Axis B
Filter 1 Filter 2 Filter 1 Filter 2
0x2944:1 Frequency [Hz] 0x2944:4 Frequency [Hz] 0x3144:1 Frequency [Hz] 0x3144:4 Frequency [Hz]
0x2944:2 Width [Hz] 0x2944:5 Width [Hz] 0x3144:2 Width [Hz] 0x3144:5 Width [Hz]
0x2944:3 Depth [dB] 0x2944:6 Depth [dB] 0x3144:3 Depth [dB] 0x3144:6 Depth [dB]
m m* m m*
m = Output of the jerk limitation

[5-9] Optional notch filters (filter cascade) in the speed control loop
Use of the notch filters depending on the resonant frequency
 Stop!
Improperly set notch filters have a negative effect on the response and disturbance
behaviour of the speed control:
• Increased overshoot of the motor speed in case of response behaviour
• Higher speed deviations (extreme case: Complete instability of the drive) in case of
disturbance behaviour
In the case of impairment,
• the drive that is still running must either be coasted down by activating the controller
inhibit or immediately be brought to a standstill via a brake.
• the speed controller must be optimised again afterwards.
• the test procedure must be repeated. Setting the notch filters
________________________________________________________________
2 1 0
1f f
flimit_speed_controller
2 limit_speed_controller
 Use of notch filters possible without any interactions
 Use of notch filters only possible with restrictions
 The notch filter should not be used
[5-10] Use of the notch filter depending on the resonant frequency
• The notch filters are suitable for use with resonant frequencies equal to or higher than the limit
frequency of the speed controller.
• Resonant frequencies ≥ flimit_speed_controller = 70 Hz ... 110 Hz
• For resonant frequencies lower than the limit frequency of the speed controller, the use of
suitable speed profiles with an S-shaped ramp is recommended.
Setting the notch filters

Since the exact frequency response of the speed control path in most cases is not known
beforehand, an experimental procedure for setting the notch filters is described in the following.
 How to set the notch filters:

1. Setting and optimising the current controller.
2. Adapt the speed controller reset time to the filter time constant of the speed filter time and
the equivalent time constant of the current control loop:
• The following applies to axis A: 0x2900:2 = 16 * (0x2904 + 500 μs)
• The following applies to axis B: 0x3100:2 = 16 * (0x3104 + 500 μs)
Note: The setting of the reset time includes the equivalent time constant of the current
control loop. The 500 μs indicated are typical in a power range of up to 50 kW. Above this
value, greater time constants may occur.
3. Slowly increase the proportional gain of the speed controller in 0x2900:1 (or 0x3100:1 for
axis B) until the speed control loop starts to be unstable (acoustic determination,
measurement of the motor current or recording of the speed output signal).
4. Measure the oscillation frequency using an oscilloscope:
• Assessing the motor current via 0x2DD1:4
• Assessing the motor speed via 0x6044.
5. Set the oscillation frequency determined as filter frequency in 0x2944:1 (or 0x3144:1 for
axis B).
6. Set the filter width to 40 % of the filter frequency in 0x2944:2 (or 0x3144:40 for axis B).
• Example: Filter frequency = 250 Hz  filter width = 100 Hz.
7. Set the filter depth to 40 dB in 0x2944:3 (or 0x3144:3 for axis B).
• If "0 dB" are set (default setting), the filter is not effective.
________________________________________________________________
8. Further increase proportional gain of the speed controller in 0x2900:1 (or 0x3100:1 for B)
until the speed control loop starts to be unstable again.
• If the oscillation frequency has changed now, readjust the filter frequency by trimming.
The use of a second filter is ineffective here.
• If the oscillation frequency remains the same, readjust the filter depth and/or the filter
width by trimming (the first reduces the amplitude, the second lets the phase rotate
faster).
• Repeat step 8 until the desired behaviour or the limit of a sensible speed controller gain
has been reached.
9. Check the drive behaviour in case of quick stop (QSP)
• Accelerate drive
• Then, brake with quick stop (QSP) and check whether a reduced drive dynamics can be
detected.
• If so, reduce the influence of the filters until the reachable dynamics corresponds to the
requirements.
 Note!
Readjust the speed controller after setting the notch filters. Setting the speed
controller. ( 112)
For permanent storage, the changed settings must be uploaded to the controller from
0x2944 | 0x3144 - Torque: Notch filter setpoint torque

1 Notch filter 1: Frequency 200.0 Hz UNSIGNED_16
2 Notch filter 1: Bandwidth 20.0 Hz UNSIGNED_16
3 Notch filter 1: Damping 0 db UNSIGNED_8
4 Notch filter 2: Frequency 400.0 Hz UNSIGNED_16
5 Notch filter 2: Bandwidth 40.0 Hz UNSIGNED_16
6 Notch filter 2: Damping 0 db UNSIGNED_8
Subindex 1: Notch filter 1: Frequency

1.0 Hz 1000.0 200.0 Hz
Subindex 2: Notch filter 1: Bandwidth

0.0 Hz 500.0 20.0 Hz
________________________________________________________________
Subindex 3: Notch filter 1: Damping

0 dB 100 0 db
Subindex 4: Notch filter 2: Frequency

1.0 Hz 1000.0 400.0 Hz
Subindex 5: Notch filter 2: Bandwidth

0.0 Hz 500.0 40.0 Hz
Subindex 6: Notch filter 2: Damping

0 dB 100 0 db
5.14 Parameterising the V/f characteristic control
________________________________________________________________
In case of the V/f characteristic control (VFCplus), the motor voltage of the inverter is determined by
means of a linear or quadratic characteristic depending on the field frequency or motor speed to be
generated. The voltage follows a preselected characteristic.
 Stop!
• The V/f characteristic control is only suitable for asynchronous motors.
• Observe the following when you actuate drives with a square-law V/f characteristic:
• Please always check whether the corresponding drive is suitable for operation with
a quadratic V/f characteristic!
• If your pump drive or fan drive is not suitable for operation with a square-law V/f
characteristic, use the linear V/f characteristic instead, or select the servo control.
• For adjustment, observe the thermal performance of the connected asynchronous
motor at low output frequencies.
• Usually, standard asynchronous motors with insulation class B can be operated for
a short time with their rated current in the frequency range 0 Hz ... 25 Hz.
• Contact the motor manufacturer to get the exact setting values for the max.
permissible motor current of self-ventilated motors in the lower speed range.
• For square-law V/f characteristics we recommend setting a smaller Vmin.
• As regards the motor nameplate data, at least the rated speed (0x2C01:4 or 0x3401:4
for axis B) and the rated frequency (0x2C01:5 or 0x3401:5 for axis B) must be entered
for the i700 servo inverter to calculate the correct number of pole pairs.
Initial commissioning steps

After the motor and servo inverter have been optimally adjusted to each other, the following "initial
commissioning steps" are sufficient for a simple V/f characteristic control:
1. Defining the V/f characteristic shape
2. Torque increase in the lower speed range ("Boost" function)
– or alternatively –
Setting the voltage boost
3. Setting the load adjustment
4. Defining the behaviour at the current limit (Imax controller)
Optimising the control mode

The following "optimisation steps" can be used to further optimise the control mode of the V/f
characteristic control and adapt it to the practical application:
1. Setting the slip compensation
2. Setting the oscillation damping
3. Manual test mode "Current pulse"
• Only required if the voltage vector control is applied, or if DC-injection braking or the flying
restart process is activated.
________________________________________________________________
Parameterisable functions
Optionally the following functions can be activated for the V/f characteristic control:
• "DC-injection braking" function
• "Flying restart" function
In the Lenze setting these two functions are deactivated.
5.14.1 Defining the V/f characteristic shape
For purposes of adaption to different load profiles, the shape of the characteristic can be selected:
0x2B00 | 0x3300 - VFC: V/f characteristic - shape

0 Linear (standard) Linear characteristic for drives with constant load torque
over the speed.
1 Square-law (pumps and fans) Square-law characteristic for drives with a linear or
square-law load torque over the speed.
• Square-law V/f characteristics are preferably used for
centrifugal pumps and fan drives.
• Please always check whether the corresponding drive
is suitable for operation with a quadratic V/f
characteristic!
• If your pump drive or fan drive is not suitable for
operation with a square-law V/f characteristic, use
the linear V/f characteristic instead, or select the
servo control.
2 User-defined User-definable V/f characteristic for drives requiring an
adaptation of the magnetising current via the output
speed.
• The user-definable V/f characteristic can for instance
be used for operation on special machines like the
reluctance motor, for the suppression of oscillations
on the machine, or for energy optimisation.
V V
Voltage at ref. point Voltage at ref. point
0xB01:1 | 0x3301:1 0x2B01:1 | 0x3301:1
0 fset 0 fset
0 Frequency at ref. point 0 Frequency at ref. point
0x2B01:2 | 0x3301:2 0x2B01:2 | 0x3301:2
[5-11] Principle of a linear V/f characteristic (on the left) and a quadratic V/f characteristic (on the right)
________________________________________________________________
0x2B01 | 0x3301 - VFC: V/f characteristic - define reference point

1 VFC: V/f characteristic - voltage at reference 225 V UNSIGNED_16
point
2 VFC: V/f characteristic - frequency at reference 270 Hz UNSIGNED_16
point
Subindex 1: VFC: V/f characteristic - voltage at reference point

0 V 5000 225 V
Subindex 2: VFC: V/f characteristic - frequency at reference point

0 Hz 5000 270 Hz
Defining a user-defined V/f characteristic

The "User-definable V/f characteristic" is provided for the individual adjustment of the motor
magnetisation to the actual application if linear and square-law characteristics are not suitable.
• The characteristic is defined by means of 11 parameterisable grid points (voltage/frequency
values).
• In the Lenze setting the 11 grid points represent a linear characteristic:
0x2B02:1 | 0x3302:1 U [V] 0x2B02:11 | 0x3302:11

0x2B03:1 | 0x3303:1 0x2B03:11 | 0x3303:11
P1 400 P11
P2 320 P10
P3 240 P9
P4 160 P8
P5 80 P7
P6
-50 -40 -30 -20 -10 0 10 20 30 40 50 f [Hz]
P1 P2 P3 P4 P5 P6 P7 P8 P9 P10 P11
V 400 V 320 V 240 V 160 V 80 V 0V 80 V 160 V 240 V 320 V 400 V
f -50 Hz -40 Hz -30 Hz -20 Hz -10 Hz 0 Hz 10 Hz 20 Hz 30 Hz 40 Hz 50 Hz
[5-12] User-definable V/f characteristic (Lenze setting)
________________________________________________________________
0x2B02 | 0x3302 - VFC: User-definable V/f characteristic - frequency grid points (x)

1 V/f: x1 = f01 -50 Hz INTEGER_16
2 V/f: x2 = f02 -40 Hz INTEGER_16
3 V/f: x3 = f03 -30 Hz INTEGER_16
4 V/f: x4 = f04 -20 Hz INTEGER_16
5 V/f: x5 = f05 -10 Hz INTEGER_16
6 V/f: x6 = f06 0 Hz INTEGER_16
10 V/f: x10 = f10 40 Hz INTEGER_16
11 V/f: x11 = f11 50 Hz INTEGER_16
0x2B03 | 0x3303 - VFC: User-definable V/f characteristic - voltage grid points (y)

1 V/f: y1 = U01 (x = f01) 400.00 V UNSIGNED_32
________________________________________________________________
5.14.2 Torque increase in the lower speed range ("Boost" function)
This function that can be activated is used if a comparatively high starting torque has to be provided
for. This function ensures that the required motor current is maintained in the lower speed range.
 Note!
The boost function described here adds to the voltage boost.
• Only utilise one of the two "Boost" functions.
Recommendation: Torque increase in the lower speed range
Take into consideration that the increased current at low speeds also entails higher heat
losses of the motor.
• The voltage vector control is activated by the selection of a current setpoint.

• For the automatic calculation of the control parameters, the "Calculate Imin controller" function
is provided via object 0x2822 (or 0x3022 for axis B).
0x2B04 | 0x3304 - VFC: Voltage vector control - setpoint current
Current setpoint for voltage vector control

• If "0.00 A" are set, the voltage vector control is deactivated.
• When the current setpoint is defined, provide a reserve of 20 % to prevent a motor stalling caused by sudden
additional loads.
• Example for starting torque = rated motor torque:
The current setpoint must be set to approx. 120 % of the load current.

0.00 A 500.00 0.00 A
0x2B05 | 0x3305 - VFC: Voltage vector control parameter

1 VFC: Voltage vector controller - gain 148.21 V/A UNSIGNED_32
2 VFC: Voltage vector controller - reset time 3.77 ms UNSIGNED_32
Subindex 1: VFC: Voltage vector controller - gain

Gain for voltage vector control
0.00 V/A 750.00 148.21 V/A
Subindex 2: VFC: Voltage vector controller - reset time

Reset time for voltage vector control
0.01 ms 2000.00 3.77 ms
________________________________________________________________
5.14.3 Setting the voltage boost
As an alternative for the voltage vector control, a constant, load independent voltage boost can be
specified for low speeds (below the V/f rated frequency) or for a motor standstill in order to optimise
the starting performance.
 Stop!
If the motor is operated at standstill for a longer time - especially in case of smaller
motors - the motor can be destroyed by overtemperature!
• Connect the KTY of the motor. Parameterise and activate the Motor temperature
monitoring. ( 263)
• Parameterise and activate the Monitoring of the motor utilisation (I²xt). ( 254)
• Operate self-ventilated motors with a blower, if required.
 Note!
The voltage boost acts additively to the voltage vector control.
• Only use one of the two "Boost" functions.
Recommendation: voltage vector control
Depending on the required starting torque, the voltage boost must be set so that the required
motor current will be available after controller enable.
• The voltage boost can be calculated by multiplying the stator resistance by the rated
magnetising current:
Starting current ∼ V Boost = R S ⋅ I mN
• Optionally, the voltage boost can be determined empirically by increasing the setting until the
rated magnetising current flows.
• The voltage boost is added geometrically to the voltage of the characteristic:
2 2
U = U Characteristic + U Boost
V V
Voltage at ref. point Voltage at ref. point
UBoost UBoost
0 fset 0 fset
0 Frequency at ref. point 0 Frequency at ref. point
[5-13] Voltage boost for a linear V/f characteristic (left) and square-law V/f characteristic (right)
________________________________________________________________
 Tip!
For magnetising the motor, consider a sufficient time from the controller enable to the
start of the speed ramp function generator.
• The bigger the motor the longer the time required for magnetisation. A motor with a
power of 90 kW requires up to 2 seconds.
0x2B06 | 0x3306 - VFC: Voltage boost
Voltage boost

0.0 V 100.0 0.0 V
5.14.4 Setting the load adjustment
 Stop!
If the load adjustment is too high, the motor current may increase in idle state and the
motor may overheat!
0x2B07 | 0x3307 - VFC: Load adjustment parameter

1 VFC: Load adjustment - direction of rotation 0: Passive load (e.g. friction) UNSIGNED_8
2 VFC: Load adjustment - value 20.00 % UNSIGNED_32
Subindex 1: VFC: Load adjustment - direction of rotation

Adaptation of the characteristic depending on the load in the case of CW and CCW rotation
0 Passive load (e.g. friction) The motor operates in motor mode in both directions.
1 Active load, CCW (e.g. hoist) Application example: Hoist without counterweight
2 Active load, CW (e.g. hoist) Application example: Dancer-controlled unwinder
Subindex 2: VFC: Load adjustment - value

Load adjustment in [%] proportionally to the rated torque, in order to obtain a correspondingly "rigid" drive
behaviour even after the starting action.
• When starting torque = rated torque, a load adjustment of 50 % is suitable for most applications.
0.00 % 200.00 20.00 %
________________________________________________________________
5.14.5 Defining the behaviour at the current limit (Imax controller)
The maximum output current or the current limit is determined by the object "Max. current"
(0x6073 or 0x6873 for axis B). In case of the V/f characteristic control, an lmax controller is
implemented for complying with this limit. If the motor current exceeds the set maximum value,
the lmax controller is activated.
• The Imax controller changes the field frequency so that the motor current does not exceed the
current limit. In motor mode, the frequency is reduced and in generator mode it is increased.
• The gain and reset time of the Imax controller can be parameterised.
• For the automatic calculation of these two parameters, the "VFC: Calculate Imax controller
parameters" function is provided via object 0x2822 (or 0x3022 for axis B).
Optimising the Imax controller

The automatic calculation serves to determine starting parameters of the Imax controller which are
sufficient for many applications. Thus, an optimisation is not required for most of the applications.
The parameters of the Imax controller have to be adapted if
• a power control is implemented with great moments of inertia.
Recommendation:
Step 1: Increase reset time in 0x2B08:2 (or 0x3308:2 for axis B)
Step 2: Reduce gain in 0x2B08:1 (or 0x3308:1 for axis B)
• vibrations occur with V/f characteristic control during the operation of the Imax controller.
Recommendation:
Step 1: Increase reset time in 0x2B08:2 (or 0x3308:2 for axis B)
Step 2: Reduce gain in 0x2B08:1 (or 0x3308:1 for axis B)
• overcurrent errors occur due to load impulses or too high acceleration/deceleration ramps.
Recommendation:
Step 1: Reduce reset time in 0x2B08:2 (or 0x3308:2 for axis B)
Step 2: Increase gain in 0x2B08:1 (or 0x3308:1 for axis B)
________________________________________________________________
If the connected mechanics and the conditions in the machine allow it, it may be helpful to
determine the optimal parameters of the current controller by a practical acceleration test with a
reduced maximum current (0x6073 or 0x6873 for axis B). Mass inertia and
acceleration/deceleration considerably determine the requirements of the Imax control loop.
Recommendation: Execute the adjustment with the real mass inertia and optimise the
parameters step by step with an increasing acceleration/deceleration. The oscilloscope function
of the »PLC Designers«/»EASY motor starter« serves to record the following objects:
• VFC: Setpoint frequency (0x2B0B or 0x330B for axis B)
• Motor: Actual voltage (0x2D82 or 0x3582 for axis B)
• Motor: Actual current (0x2DD1:5 or 0x35D1:5 for axis B)
• Device: Max. current (0x6073 or 0x6873 for axis B)
• Device: Actual output frequency (0x2DDD or 0x35DD for axis B)
0x2B08 | 0x3308 - VFC: Imax controller - Parameter

1 VFC: Imax controller - gain 0.001 Hz/A UNSIGNED_32
2 VFC: Imax controller - reset time 100.0 ms UNSIGNED_32
Subindex 1: VFC: Imax controller - gain

Gain for Imax controller
0.000 Hz/A 1000.000 0.001 Hz/A
Subindex 2: VFC: Imax controller - reset time

Reset time for Imax controller
1.0 ms 2000.0 100.0 ms
________________________________________________________________
5.14.6 Setting the slip compensation
The slip compensation serves to automatically compensate for a load-dependent speed deviation.
The rated slip of the motor is required to ensure that the slip compensation can work correctly.
 Note!
Observe correct parameterisation of the rated motor frequency and the rated motor
speed. Both parameters serve to calculate the rated motor slip.
0x2B09 | 0x3309 - VFC: Slip compensation - Parameter

1 VFC: Slip compensation - influence 0.00 % INTEGER_16
2 VFC: Slip compensation - filter time 2000 ms UNSIGNED_16
Subindex 1: VFC: Slip compensation - influence

Adjustment of the slip calculated
Required due to deviations (tolerances) between the real motor data and the nameplate data.
• For instance, with a setting of 100 %: fully effective slip compensation (assumption: at rated load, the values for
the real slip and calculated slip are equal.)
-200.00 % 200.00 0.00 %
Subindex 2: VFC: Slip compensation - filter time

Adjustment of the time-dependent behaviour of the slip compensation
1 ms 6000 2000 ms
________________________________________________________________
5.14.7 Setting the oscillation damping
The oscillation damping serves to reduce the oscillations during no-load operation which are caused
by energy oscillating between the mechanical system (mass inertia) and the electrical system (DC
bus). Furthermore, the oscillation damping can also be used to compensate resonances.
 Note!
Observe the following restrictions:
• Damping is possible only for constant oscillations at a steady-state operating point.
• Oscillations occurring sporadically cannot be damped.
• Oscillation damping is not suitable for oscillations occurring during dynamic
processes (e.g. accelerations or load changes).
• Oscillation damping is only active if the setpoint speed is greater than 10 rpm and the
DC-bus voltage exceeds a value of 100 V.
Function
The determination of the oscillation is based on the active current. In order to obtain the alternating
component of the active current, this current is differentiated. This signal is then passed through a
PT1 filter.
Oscillation damping
Filter time Limitation
0x2B0A:2 | 0x330A:2 0x2B0A:3 | 0x330A:3
Q-current (iq): Actual current
0x2DD1:2 | 0x35D1:2
Set value
mot. frequency
Gain
0x2B0A:1 | 0x330A:1
Ramp-end frequency
0x2B0A:4 | 0x330A:4
Identification of the oscillation

Before the oscillation damping can be parameterised, the oscillation has to be identified. One
option is to examine the motor current at switched-off oscillation damping (gain = 0 %). The
oscilloscope function of the »PLC Designer« serves to record the following currents:
• Q current 0x2DD1:2 / 0x35D1:2
• Total current 0x2DD1:5 or 0x35D1:5
Passive loads cause a constant current in continuous operation with constant speed (steady-state
operation). If the drive oscillates, this oscillation also takes place in the motor current. Thus, it is
possible to determine the frequency and amplitude of the oscillation by means of the AC
component in the motor current. In the following, this AC component is called "current oscillation".
________________________________________________________________
Parameter setting
The gain of the oscillation damping has to be set according to the following equation:
Current amplitude
Gain of the oscillation damping = ----------------------------------------------------------------------------- ⋅ 100 %
2 ⋅ Maximum device current
The time constant of the PT1 filter has to be set in such a way that the oscillation can be damped
and higher-frequency components are filtered out of the signal. The time constant is determined
from the reciprocal value of the double frequency of the current oscillation.
1
Time constant = --------------------------------------------------------------
2 ⋅ Oscillation frequency
The oscillation frequency calculated can be limited before it is added to the field frequency. The
maximum frequency can be derived from the amplitude of the current oscillation, the rated motor
current, and the slip frequency of the connected motor:
2 ⋅ Amplitude of the current oscillation

Max. frequency = ---------------------------------------------------------------------------------------------------- ⋅ Rated slip frequency
Rated motor current
0x2B0A | 0x330A - VFC: Oscillation damping - Parameter

1 VFC: Oscillation damping - gain 20 % INTEGER_16
2 VFC: Oscillation damping - filter time 5 ms UNSIGNED_16
3 VFC: Oscillation damping - limitation 0.2 Hz UNSIGNED_16
4 VFC: Oscillation damping - ramp-end 0% UNSIGNED_8
frequency
Subindex 1: VFC: Oscillation damping - gain

Gain of the oscillation signal
• If the setting is "0 %", the oscillation damping is switched off.
-100 % 100 20 %
Subindex 2: VFC: Oscillation damping - filter time

Time constant of the PT1 filter
1 ms 600 5 ms
Subindex 3: VFC: Oscillation damping - limitation

Limitation of the calculated oscillation frequency before it is added to the field frequency.
0.1 Hz 20.0 0.2 Hz
________________________________________________________________
Subindex 4: VFC: Oscillation damping - final ramp frequency

Ramp end frequency from which the gain factor is to have reached its rated value.
• By setting a ramp end frequency, a possible negative impact of the oscillation damping on the concentricity
factor in the lower speed range can be reduced.
• The ramp end frequency refers to the rated motor frequency in percent.
0 % 100 0 %
5.14.8 Optimising pull-out slip limitation
The following object serves to adapt the pull-out slip function or the maximally permissible motor
current in the field weakening range.
• If the motor is to be stalled in the field weakening range, the override point can be offset by
reducing the value so that a motor stalling can be prevented.
• If the motor cannot provide enough torque in the field weakening range, the value has to be
increased.
0x2B0C | 0x330C - VFC: Override point of field weakening
From version 01.03

Offset of the override point for field weakening

-500.0 Hz 500.0 0.0 Hz
5.14.9 Display parameter
0x2B0B | 0x330B - VFC: Setpoint frequency

-600.0 Hz 600.0 0.0 Hz
________________________________________________________________
5.14.10 "Flying restart" function
As a protective function against high compensation currents, the i700 servo inverter provides the
flying restart function. High compensation currents may occur in the case of the V/f characteristic
control if the drive is not at standstill at the time of controller enable. The flying restart function
determines the motor speed by means of a test current and, by this information, presets the
frequency setpoint. The speed determined is also provided to the axis control.
 Stop!
If the flying restart function is deactivated and the controller is not enabled at standstill,
the output voltage and output frequency do not match the current motor speed. High
compensation currents may flow!
• The drive is first braked towards 0 Hz and is then accelerated again!
0x2BA0 | 0x33A0 - Flying restart: Activate
Activation of the additional "flying restart process" function

• If the flying restart function is activated ("1: On"), a flying restart process for the determination of the current
motor speed is started automatically after the controller inhibit has been deactivated if the following conditions
are met:
• The V/f characteristic control is set as motor control.
• The CiA402 mode is selected as drive mode.
• The flying restart function is not blocked via bit 2 in the Lenze control word (0x2830 or 0x3030 for axis B).
• No DC-injection braking is active.
• No motor phase failure has been detected.

0 Off
1 On
________________________________________________________________
Flying restart process

If the "flying restart process" function is activated, the flying restart process will start after controller
enable:
1. The i700 servo inverter reports the started flying restart process to the controller via bit 8 in the
Lenze status word (0x2831 or 0x3031 for axis B).
2. If a speed has been found, it is reported to the controller via bit 9 in the Lenze-status word.
3. The controller gives the i700 servo inverter a feedback on the fact that the found speed has been
accepted via bit 0 in the Lenze control word (0x2830 or 0x3030 for axis B). As long as the
feedback is not provided, further flying restart processes are not possible.
OperationEnabled
0x2831 | 0x3031 Bit 8: Flying restart running
Search...
0x2831 | 0x3031 Bit 9: Flying restart ready
0x2BA6 | 0x33A6 Found velocity
0x2830 | 0x3030 Bit 0: Flying restart acknowledge
[5-14] Signals during a flying restart process
Parameter setting
 Note!
• The flying restart algorithm requires the motor voltage as exact as possible. Therefore
it is absolutely necessary to predetermine the inverter error characteristic.
Compensating for inverter influence on output voltage
• In addition to the exact motor voltage, the exact stator resistance must also be
known. If the flying restart process does not work as desired, the setting of the stator
resistance is to be slightly adapted in object 0x2C01:2 (or 0x3401:2 for axis B).
• A flying restart process can be blocked via bit 1 in the Lenze control word (0x2830 or
0x3030 for axis B).
A control loop is involved in the flying restart process the controller parameter integration time of
which has to be adapted to the motor in the object 0x2BA3 (or 0x33A3 for axis B). For the automatic
calculation of this parameter, the "VFC: Flying restart process controller - calculate controller
parameters" function is available via the object 0x2822 (or 0x3022 for axis B).
________________________________________________________________
The actual flying restart process can be adjusted via the following parameters:
0x2BA1 | 0x33A1 - Flying restart: Current
Current injected in the motor by the flying restart algorithm to identify the current speed.
• Selection in [%] based on the rated motor current (0x6075 or 0x6875 for axis B).
• The higher the current the higher the torque imposed upon the motor.
• If the current is too low, a wrong speed can be detected.

0 % 100 15 %
0x2BA2 | 0x33A2 - Flying restart: Start frequency
Start frequency of the flying restart algorithm

• If it can be anticipated at which frequency the motor "caught" most frequently in a flying restart process, this
frequency is to be set here.

-600.0 Hz 600.0 20.0 Hz
0x2BA3 | 0x33A3 - Flying restart: Integration time
Integration time of the angle controller

• The Lenze setting is adapted to machines with an average power.
• A guide value for the integration time can be calculated as a function of the motor power with the following
equation: Ti = 1.1 μ/W * rated motor power + 9.4 ms
• For accelerating the search process, this guide value can be reduced.
• If the flying restart frequency oscillates too much, the integration time has to be increased again.
• A longer integration time increases the time for "catching" the drive.

1 ms 60000 600 ms
0x2BA4 | 0x33A4 - Flying restart: Min. deviation

0.00 ° 90.00 5.00 °
0x2BA5 | 0x33A5 - Flying restart: Delay time
To avoid starting a flying restart process at short-time controller inhibit, a time can be set here for the minimum
active controller inhibit time before a flying restart process is activated.
• Since a pulse inhibit > 500 ms causes a controller inhibit, this also applies to the pulse inhibit.
________________________________________________________________

0 ms 10000 0 ms
0x2BA6 | 0x33A6 - Flying restart: Result
Output of the speed found for acceptance in the control.

• This information is pending until the control reports acceptance of the found speed to the i700 servo inverter via
bit 0 in the Lenze control word (0x2830 or 0x3030 for axis B).

1 Flying restart: Determined speed [rpm] INTEGER_16
2 Flying restart: Determined speed [n unit] INTEGER_32
Subindex 1: Flying restart: Determined speed [rpm]

-32768 r/min 32767
 Write access  CINH  OSC  P  RX  TX INTEGER_16
Subindex 2: Flying restart: Determined speed [n unit]

-480000 [n unit] 480000
5.15 "DC-injection braking" function
________________________________________________________________
5.15 "DC-injection braking" function
The control modes for asynchronous motors provide the opportunity to use "DC-injection braking"
for the braking process.
DC-injection braking can be
• parameterised via bit 6 in the Lenze control word (0x2830 or 0x3030 for axis B) or
• as response to light errors. Response of the device in the event of an error ( 279)
Application cases for DC-injection braking

• DC-injection braking via bit 6 of the Lenze control word
The motor system itself can be used as an energy converter. This option is advantageous if
• a brake resistor required for absorbing the braking energy is not provided in the system. A
prerequisite for this process is that a sufficient braking torque can be reached using DC-
injection braking.
• the power of the brake chopper to be converted is limited and thus has to be used exclusively
for the main drives of the DC network. The quality of the deceleration ramp via DC-injection
braking is sufficient for auxiliary drives and unloads the brake chopper.
• a fan drive has to be braked in V/f characteristic mode.
• DC-injection braking as response to light errors
A light error can be an error of an encoder of an asynchronous machine as servo axis.
Due to the error, the quick stop function cannot be executed anymore. Optionally, the
controlled shutdown with low deceleration via DC-injection braking can be used.
In this case, the motor control injects a DC current the amplitude of which can be set in the object
0x2B80 (or 0x3380 for axis B). For this purpose, it is required that the current control is adapted to
the corresponding motor. Setting and optimising the current controller ( 104)
0x2B80 | 0x3380 - DC-injection braking: Current
Braking current for DC-injection braking

0.00 A 500.00 0.00 A
 Note!
The r.m.s. value of the current is calculated from the time values by means of the use of
the factor "√2". This also happens in case of the field frequency 0 Hz (DC current). In case
of the DC injection braking, the r.m.s. value is thus given by the factor "√ too low in
0x2DD1:5 (or 0x35D1:5 for axis B).
5.16 "Short-circuit braking" function
________________________________________________________________
5.16 "Short-circuit braking" function
The control modes for synchronous motors provide the opportunity to use "short-circuit braking" for
the braking process.
Short-circuit braking can be
• parameterised via bit 6 in the Lenze control word (0x2830 or 0x3030 for axis B) or
• as response to light errors. Response of the device in the event of an error ( 279)
 Stop!
In some constellations, it is not possible to decelerate the motor speed of a synchronous
motor to zero by means of "short-circuit braking". The braking effect cannot be
compared to the "quick stop" function where the motor is energised under optimal
conditions!
Cases of application
• for short-circuit braking via bit 6:
• The braking energy cannot be converted into heat in a brake resistor.
• An external control wants to request short-circuit braking as e.g. an error has been detected
in the encoder system which does not permit braking via quick stop.
• for short-circuit braking as response to light errors:
• Due to an encoder error, no quick stop is possible anymore.
 Note!
The short-circuit current is set freely according to the motor voltage (kE * speed) and the
internal resistance of the system. Thus, it is mandatory that the ampacity of the i700
servo inverter is oriented towards the short-circuit current to be maximally expected.
Guide value: Imax_device (3 s) ≥ 1.5 * Imax_motor (according to the data sheet/catalogue)
In case of a deviating assignment, a rating based on the currently possible parameters
(max. speed, max. motor current, field weakening, etc.) is required!
The effect of the short-circuit braking on the deceleration behaviour depends on the motor features,
the effective cable length, the mass inertia and the initial value of the speed (application point).
Primarily, short-circuit braking can be used to convert a part of the kinetic energy into heat energy
which serves to unload external brake assemblies and limit position dampers.
5.17 Setting the switching frequency
________________________________________________________________
If short-circuit braking is to be used as the only holistically effective deceleration unit, it is

recommended to verify the feasibility by tests. For this purpose, bit 6 in the Lenze control word
(0x2830 or 0x3030 for axis B) serves to trigger the short-circuit braking. The oscilloscope function of
the »PLC Designer«/»EASY Starter« serves to record the following important objects:
• Speed: Setpoint speed (0x2DD3:1 or 0x35D3:1 for axis B)
• Speed: Actual speed (0x606C or 0x686C for axis B)
• Phase currents U, V, W (0x2D83:2...4 or 0x3583:2...4 for axis B)
5.17 Setting the switching frequency
The i700 servo inverter can be operated with the switching frequencies listed below.
0x2939 | 0x3139 - Switching frequency
Note: In case of "8 kHz var." and "16 kHz var.", variable switching frequencies are involved. If the permissible
continuous current for the respective switching frequency is exceeded, it is automatically switched back to the next-
lower switching frequency.

0 16 kHz variable
1 8 kHz variable
2 4 kHz
10 16 kHz fix From version 01.06
11 8 kHz fix From version 01.06
5.18 Frequency and speed limitations
________________________________________________________________
5.18 Frequency and speed limitations
Output frequency
 Note!
By limiting the maximum output frequency to ± 599 Hz, the devices are not subject to
the export restrictions of the "EC-Dual-Use Regulation" (EG 428/2009). This applies to
devices supplied from the middle of the year 2015.
For certain applications, the supply of devices with the current maximum output
frequency of ± 1999 Hz. If required, get in touch with your Lenze contact person.
The output frequency of the i700 servo inverter is limited to a maximum value whose amount
corresponds to the lower of the two following values:
f chop
f lim = ------------ or f lim = f max_device
8
flim Maximum output frequency

fchop Switching frequency (0x2939 or 0x3139 for axis B)
fmax_device Maximum device output frequency (0x2835:2 or 0x3035:2 for axis B,
depending on the device type ± 599 Hz or ± 1999 Hz)
By restricting the "Dual-Use Regulation" (EC 428/2009), values of + 599 Hz to + 1000 Hz or - 599 Hz
to - 1000 Hz do not cause an increase of the output frequency. Please observe the dead band that
occurs in this case.
Speed setpoint
If servo control is used, the speed setpoint is limited depending on the number of motor pole pairs:
f lim
n lim = ---------
zp
nlim Speed limit value

flim Maximum output frequency
zp Number of motor pole pairs
• If the speed setpoint is limited, bit 1 ("Speed: Setpoint 1 limited") or bit 5 ("Speed: Setpoint 2
limited") is set in the Lenze status word (0x2831 or 0x3031 for axis B).
• The behaviour corresponds to the behaviour which is shown when the set maximum speed
(0x6080 or 0x6880 for axis B) is reached.
• The sequence is: Limit the speed to 0x6080 (or 0x6880 for axis B) first, then limit it to the speed
limit value nlim.
Frequency setpoint
If V/f characteristic control is used, the frequency setpoint is limited in addition to the speed
setpoint.
• If the frequency setpoint is limited, bit 10 ("Output frequency limited") is set in the Lenze status
word (0x2831 or 0x3031 for axis B).
6 Holding brake control
6.1 Operating modes
________________________________________________________________

This device function is used to control a motor holding brake connected to the i700 servo inverter.
 Note!
• When the brake is open, a slight knocking sound can be noticed in the motor. This
stems from test pulses for monitoring the motor brake control.
• In the "Fault" device status, the holding brake is applied.

Axis A Axis B
0x2820 0x3020 Brake control: Settings RECORD
6.1 Operating modes
For holding brake control, the following three operating modes available for the i700 servo inverter
in the object 0x2820:1 (or 0x3020:1 for axis B):
Operating mode Application

Triggering via control word from external controller Operation in the Lenze system, i.e.
(Lenze setting) • Lenze Controller as external control
• FAST Motion application
Advantage:
All settings required are carried out easily and in a
concise fashion via the corresponding dialogs in the
Engineering tools
Triggering via state machine of device Operation with an external control by an original
equipment manufacturer.
Here, a handshake via the device status machine serves
to open the brake and carry out the operation.
• Including automatic torque feedforward control
No brake connected -
 Tip!
We recommend the use of the preset "Triggering via control word from external control"
mode. In this operating mode, the triggering is carried out via the application program in
the Controller.
You can find detailed information on the respective operating mode in the following subchapters.
6.1 Operating modes
________________________________________________________________
6.1.1 Triggering via control word via external control (Lenze setting)
Object Name Required setting

Axis A Axis B
0x2820:1 0x3020:1 Brake: Operating mode 1: Activation via control word by ext. control system
In this preset operating mode, the triggering takes place via the application program in the
Controller via bit 14 in the CiA402 control word (0x6040 or 0x6840 for axis B).
• Bit 14 in the CiA402 control word = "0"  close holding brake
• Bit 14 in the CiA402 control word = "1"  release holding brake
L_MC1P_BrakeInterface function block

For Lenze Controllers, the L_MC1P_BrakeInterface FAST Motion FB is provided for the purpose of
controlling, containing the following functionality:
• Torque feedforward control in case of release in order to prevent a sagging for active loads
(hoists).
• Considering the delay times of the holding brake during the opening and closing process.
• The delay times which have been transferred as parameters to the function block from the
application are considered.
• The brake parameters "closing time" and "opening time" of the i700 servo inverter are not
effective in this operating mode.
• Option to manually release the holding brake for service purposes via a control input.
The basic conditions and timing are displayed in the illustration "Principal signal flow of the holding
brake control".
6.1.2 Triggering via state machine of device

Axis A Axis B
0x2820:1 0x3020:1 Brake: Operating mode 0: Triggering via device state machine
In this operating mode, the holding brake is triggered as a function of the device status optionally
with automatic torque feedforward control. Device states ( 190)
 Note!
In the event of an error or when STO ("SafeTorqueOff") is activated
• closing of the brake and inhibit of the operation take place immediately without
considering the set brake closing time.
• the drive changes to the Switch on disabled ( 193) state.
The basic conditions and timing are displayed in the illustration "Principal signal flow of the holding
brake control".
6.2 Opening the brake with a starting torque
________________________________________________________________
6.1.3 No brake connected

Axis A Axis B
0x2820:1 0x3020:1 Brake: Operating mode 2: No brake connected
In this operating mode, no control, detection and monitoring of the brake takes place during normal
operation.
6.2 Opening the brake with a starting torque
If the control is performed via the device state machine (selection 0x2820:1 = 0 or 0x3020:1 = 0),
the required torque of the drive is precontrolled while releasing the brake.
 Note!
The torque is precontrolled for one second. During this time, the actual torque must have
reached 90 % of the setpoint torque, otherwise an error is triggered!
0x2820:9 or 0x3020:9 for axis B is used to first make the basic selection whether a parameterised
starting torque or the torque memorised at the last closing process should be used for the
feedforward control.
The torque feedforward control can be activated by setting a feedforward control torque:
• 0x2820:9 = 0
• 0x2820:9 = 1 and 0x2820:10 ≠ 0
6.3 Display of the holding brake status
The CiA402 status word (0x6041 or 0x6841 for axis B) displays the holding brake status via bit 14:
• Bit 14 in the CiA402 status word = "0" means "Holding brake applied"
• Bit 14 in the CiA402 status word = "1" means "Holding brake released"
6.4 Overriding the selected brake mode
The 0x2820:11 and 0x3020:11 objects are used for a forced release or forced application of the
brake irrespective of its operating mode and the operating status of the servo inverter.
This function, for instance, is advantageous in the event of an error because the forced release of
the brake allows the axis to move manually.
6.5 Basic signal flow
The following signal flow clarifies the interaction between the L_SMC_BrakeControl function block
(in the application program of the Lenze Controller) and the device function integrated in the Servo
Inverter i700 for holding brake control.
6.5 Basic signal flow
________________________________________________________________
Principal signal flow of the holding brake control (with the respective operating mode compared to the automatic control)
FB L_MC1P_BrakeInterface Servo-Inverter i700

Brake mode 2: Automatic Operation Operating mode 0: Triggering via state machine of device
01 2 3 4 012 3 4
MC_Power.bRegulatorOn EnableOperation
t t
OperationEnabled OperationEnabled
t t
xBrakeReleaseOut BrakeReleaseOut
t t
xBrakeReleased BrakeReleased
t t
CINH CINH
t t
M lrActTorque M ActTorque
Brake: Brake identification

t t (0x2820:4|0x3020:4)
Brake opening time (subindex 111) Brake release time (0x2820:3 | 0x3020:3) Brake monitoring: Response
Brake closing time (subindex 112) Brake application time (0x2820:2 | 0x3020:2) (0x2820:6|0x3020:6)
L_MC1P_ control value Statusword
*0.9 BrakeInterface. *0.9 (0x2820:10 | 0x2820:10)
0 Bit14:
IrTorqueAdd 0: Brake closed
Source of + 0x2820:9/1
1
0x3020:9/1 1: Brake released
starting torque Source of
(subindex 117) starting torque 0
0
0 Triggering
0 1
(0x2820:9 / 0 1 1 holding brake
0x3020:9) 1
2 1 M
2
Last stopping Starting torque Last stopping Starting torque
value (subindex 118) 2 value (0x2820:10 /
0x3020:10) Bremse: Override (0x2820:11 | 0x3020:11)
1
0: No Override
xReleaseBrake 0 1: Override open
Brake mode 2: Override close
(subindex 110) Controlword Brake: Operating mode (0x2820:1|0x3020:1)
0: Off Bit 14: 0: Triggering via state machine of device
1: Manuel 0: Close brake 1: Triggering via control word from ext. controller
2: Automatic 1: Release brake 2: No brake connected
Brake: Control logic (0x2820:5|0x3020:5)
0: Positive logic
1: Negative logic
L_MC1P_BrakeInterface - process of the automatic control: Servo Inverter i700 - process of the control via device status
machine:
 When MC_Power.bRegulatorOn = TRUE, the i700 is  The "Enable operation" command serves to enable the i700
enabled and the starting torque for the torque and simultaneously specify the starting torque for the
feedforward control is specified simultaneously. torque feedforward control.
 When the actual torque is = 0.9 x starting torque, the  When the actual torque is = 0.9 x starting torque, the starting
holding brake is triggered to be released. The triggering torque is triggered to be released.
is signalled at the xBrakeReleaseOut output.
 After the brake opening time has elapsed, the "holding  After the brake opening time has elapsed, the "holding brake
brake released" status is reported via the xBrakeReleased released" status is reported via the CiA402 status word
output. (bit 14).
 From now on, the Servo Inverter i700 can perform  From now on, the Servo Inverter i700 can perform
motions. motions.
 When MC_Power.bRegulatorOn = FALSE, the holding  The Disable operation" command serves to trigger the
brake is triggered to be closed. holding brake to be closed.
 Only after the brake closing time has elapsed, the i700 is  Only after the brake closing time has elapsed, the i700 is
inhibited. The xBrakeReleased output reports the inhibited. The CiA402 status word (bit 14) serves to report
"Holding brake closed" status. the "Holding brake closed" status.
6.6 Settings
________________________________________________________________
6.6 Settings
0x2820 | 0x3020 - brake control: settings

1 Brake: Operating mode 1: Activation via control word by ext. UNSIGNED_8
control system
2 Brake: Application time 100 ms UNSIGNED_16
3 Brake: Release time 100 ms UNSIGNED_16
4 Brake: Brake identification 0: Identification not active UNSIGNED_16
5 Brake: Control logic 0: Positive logic UNSIGNED_8
6 Brake monitoring: Response 1: Trouble UNSIGNED_8
9 Holding brake: Starting torque source 0: Stopping value UNSIGNED_16
10 Holding brake: Starting torque INTEGER_16
11 Holding brake: Override of the holding brake UNSIGNED_8
control
Subindex 1: Brake: operating mode

Note:
In the case of the manual control (0x2825 = "4" or 0x3025 = "4" for axis B), the holding brake is controlled
automatically. The setting of the operating mode is irrelevant in this case.
0 Triggering via state machine of device This operating mode serves to release the brake
automatically if controller enable is set.
Device states
1 Triggering via control word from external In this operating mode the brake can be controlled
controller manually via bit 14 in the Controlword (0x6040 or
0x6840 for axis B).
2 No brake connected During normal operation, no control, detection, and
monitoring of the brakes take place.
 Write access  CINH  OSC  P  RX  TX UNSIGNED_8
Subindex 2: Brake: application time

0 ms 10000 100 ms
Subindex 3: Brake: release time

0 ms 10000 100 ms
Subindex 4: Brake: brake identification

In the case of the manual control (0x2825 = "4" or 0x3025 = "4" for axis B), during the changeover from the
"Switched on" to "Operation enabled" device status, it is automatically determined whether a holding brake is
connected. The brake identification is executed again after every controller enable.
6.6 Settings
________________________________________________________________
Subindex 4: Brake: brake identification

0 Detection not active
1 Brake detection is running...
2 No brake detected
3 Brake detected
Subindex 5: Brake: Control logic

The control logic of the holding brake can be inverted.
0 Positive logic
1 Negative logic
Subindex 6: Brake monitoring: Response

In the controlled state, the holding brake is monitored cyclically for the presence of the brake current.
Since, after connecting the brake, the brake current builds up in a time-delayed manner as a function of inductance,
an open circuit, a terminal short circuit, or a missing brake supply is detected with a delay.
When monitoring trips, the response set here will be activated.
Note:
The brake is not monitored in the non-triggered state!
0 No response
1 Fault
2 Warning
Subindex 9: Holding brake: Starting torque source

Source for the holding brake torque
0 Stopping value In case of feedforward control with the last memorised
stopping value, the setpoint that has been automatically
memorised during the last closing process is used as
starting torque.
1 Starting torque of 0x2820/10 In case of feedforward control with parameterised
starting torque, the parameterised starting torque from
subindex 10 is used.
The starting torque can be mapped.
Subindex 10: Holding brake: Starting torque

Feedforward control value for the automatic operation (subindex 9 = 1)
-3276.8 % 3276.7
 Write access  CINH  OSC  P  RX  TX Scaling: 1/10 INTEGER_16
6.6 Settings
________________________________________________________________
Subindex 11: Holding brake: Override of the holding brake control

Mode for override or forced release/application of the holding brake independent of the operating mode.
• In the event of an error and activated function for forced release, the brake is not applied.
0 No override active No override active
1 Release holding brake Open brake
2 Apply holding brake Apply brake
6.6 Settings
________________________________________________________________
7 CiA402 device profile
________________________________________________________________

The CiA402 device profile describes predefined functions or modes of a variable-speed drive. The
individual process data for the modes are clearly defined. The axis parameterisation and the bus
configuration (PDO mapping) are carried out via standardised indexes.

Axis A Axis B
0x2500 Touch probe (TP): Filter time UNSIGNED_16

0x2946 0x3146 Cyclic sync torque mode: Speed limitation RECORD
0x2D00 0x3500 Touch probe (TP): Delay time RECORD
0x2D01 0x3501 Touch probe (TP): Time stamp RECORD
0x6040 0x6840 Controlword UNSIGNED_16
0x6041 0x6841 Statusword UNSIGNED_16
0x6042 0x6842 vl target velocity INTEGER_16
0x6043 0x6843 vl velocity demand INTEGER_16
0x6044 0x6844 vl velocity actual value INTEGER_16
0x6046 0x6846 vl velocity min max amount RECORD
0x6048 0x6848 vl velocity acceleration RECORD
0x6049 0x6849 vl velocity deceleration RECORD
0x605A 0x685A Quick stop option code INTEGER_16
0x6060 0x6860 Operating mode: Selection INTEGER_8
0x6061 0x6861 Modes of operation display INTEGER_8
0x6062 0x6862 Position demand value INTEGER_32
0x6063 0x6863 Position actual internal value INTEGER_32
0x6064 0x6864 Position actual value INTEGER_32
0x6065 0x6865 Following error window UNSIGNED_32
0x6066 0x6866 Following error time out UNSIGNED_16
0x6067 0x6867 Position window UNSIGNED_32
0x6068 0x6868 Position window time UNSIGNED_16
0x606C 0x686C Velocity actual value INTEGER_32
0x6071 0x6871 Target torque INTEGER_16
0x6072 0x6872 Max torque UNSIGNED_16
0x6073 0x6873 Max current UNSIGNED_16
0x6077 0x6877 Torque actual value INTEGER_16
0x6078 0x6878 Current actual value INTEGER_16
0x6079 0x6879 DC bus: Actual voltage UNSIGNED_32
0x607A 0x687A Position demand value INTEGER_32
0x607E 0x687E Polarity UNSIGNED_8
0x6080 0x6880 Max motor speed UNSIGNED_32
0x6085 0x6885 Quick stop deceleration UNSIGNED_32
0x608F 0x688F Position encoder resolution RECORD
0x6090 0x6890 Velocity encoder resolution RECORD
________________________________________________________________

Axis A Axis B
0x60B1 0x68B1 Velocity offset INTEGER_32

0x60B2 0x68B2 Torque offset INTEGER_16
0x60B8 0x68B8 Touch probe function UNSIGNED_16
0x60B9 0x68B9 Touch probe status UNSIGNED_16
0x60BA 0x68BA Touch probe pos1 pos value INTEGER_32
0x60BB 0x68BB Touch probe pos1 neg value INTEGER_32
0x60BC 0x68BC Touch probe pos2 pos value INTEGER_32
0x60BD 0x68BD Touch probe pos2 neg value INTEGER_32
0x60C0 0x68C0 Interpolation sub mode select INTEGER_16
0x60C2 0x68C2 Interpolation time period RECORD
0x60E0 0x68E0 Positive torque limit value UNSIGNED_16
0x60E1 0x68E1 Negative torque limit value UNSIGNED_16
0x60F4 0x68F4 Following error actual value INTEGER_32
0x60FA 0x68FA Control effort INTEGER_32
0x60FC 0x68FC Position demand internal value INTEGER_32
0x60FD 0x68FD Digital inputs UNSIGNED_32
0x60FF 0x68FF Target velocity INTEGER_32
0x6404 0x6C04 Motor manufacturer STRING(50)
0x6502 0x6D02 Supported drive modes UNSIGNED_32
0x67FF 0x6FFF ECAT: Device Profile Number UNSIGNED_32
CiA402 objects described in other chapters:

Axis A Axis B
Indication of fault and warning (error code)

0x603F 0x683F Error code UNSIGNED_16
0x605E 0x685E Fault reaction option code INTEGER_16
Set motor parameters manually
7.1 Supported drive modes
________________________________________________________________
7.1 Supported drive modes
CiA402 - drive modes Can be used with

Servo control V/f characteristic
control
Velocity mode (vl)  

• Speed control
Cyclic sync velocity mode (csv)  
• Speed control with interpolation of the speed setpoint.
Cyclic sync torque mode (cst) 
• Torque control with interpolation of the torque setpoint.
Cyclic sync position mode (csp) 
• Position control with interpolation of the position setpoint.
Setpoint interpolation in the operating modes with a cyclic setpoint selection

When an operating mode with cyclic setpoint selection is selected, first all setpoints are controlled
via interpolators, which divide the setpoint step-changes down from the bus cycle to the cycle time
of the control loops. All interpolators are parameterised commonly via the "Interpolation time
period" object (0x60C2 or 0x68C2 for axis B).
7.2 Applied units and scaling for position and velocity
Name Unit Scaling

CiA402 position Pos unit 216 ... 230 [Pos unit] ≡ 360°
Depending on the position encoder resolution set (0x608F or
0x688F for axis B).
Internal position Incr. 232 [Incr.] ≡ 360°
CiA402 velocity r/min
Internal velocity n-unit ±231 [n-unit] ≡ ±480000 rpm
7.3 General CiA402 parameters
________________________________________________________________
This chapter describes the general CiA402 parameters.

All objects correspond to the CiA402 specification, but some of them have only a restricted value
range.
Objects described in this chapter:

Axis A Axis B

0x6404 0x6C04 Motor manufacturer STRING(50)
0x6502 0x6D02 Supported drive modes UNSIGNED_32
0x67FF 0x6FFF ECAT: Device Profile Number UNSIGNED_32
Objects described in other chapters:

Axis A Axis B

0x60FD | 0x68FD - Digital inputs
Display of the current status of the digital inputs

0 4294967295 0
Bits 0-3 Not specified
Bits 4-15 Reserved
Bit 16 Level at digital input 1 0: LOW level
1: HIGH level
Bit 17 Level at digital input 2 0: LOW level
1: HIGH level
Bits 18-31 Reserved
Related topics:
Touch probe (TP)
Delay times of the digital inputs and required minimum signal duration
________________________________________________________________
0x6404 | 0x6C04 - Motor manufacturer
0x6502 | 0x6D02 - Supported drive modes
Bit coded display of the operating modes in which the drive can be actuated.
0: Operating mode is not supported.
1: Operating mode is supported.

0x00000000 0xFFFFFFFF 0x00000382
Bit 0 Not specified Not supported
Bit 1 Velocity mode Velocity mode
Bit 4 Reserved
Bit 7 Cyclic sync position mode Cyclic sync position mode
Bit 8 Cyclic sync velocity mode Cyclic sync velocity mode
Bit 9 Cyclic sync torque mode Cyclic sync torque mode
Bits 10-15 Reserved
Bits 16-31 Reserved
0x67FF | 0x6FFF - Device profile number

0x00000000 0xFFFFFFFF 0x00020192
7.4 Device control
________________________________________________________________
7.4 Device control
The objects described in this chapter serve to control the states of the servo inverter and to select
the operating mode.
range.

Axis A Axis B

0x605A 0x685A Quick stop option code INTEGER_16
0x6085 0x6885 Quick stop deceleration UNSIGNED_32
0x6040 | 0x6840 - CiA402 controlword
Control word for the drive

0 65535 0
Bit 0  Switching on
Bit 1  DC bus: Establish readiness for
operation
Bit 2  Activate quick stop
Bit 3  Enable operation
Bits 4-6  Depending on the operating mode
Bit 7  Fault reset Indication of fault and warning (error code)
Bit 8  Not specified
Bit 9  Depending on the operating mode
Bit 10  Reserved
Bit 11  Reserved
Bit 12  Reserved
Bit 13  Reserved
Bit 14  Release brake Holding brake control
Bit 15  Reserved
0x6041 | 0x6841 - Statusword
Status word from the drive
7.4 Device control
________________________________________________________________

0 65535
Bit 0 Ready to switch on
Bit 1 Switched on
Bit 2 Operation enabled
Bit 3 Trouble active
Bit 4 Voltage enabled
Bit 5 Quick stop If bit 0 ("ready to start") = 1:
• "Quick stop active", bit 4 = 0
• "Quick stop not active", bit 4 = 1
In all other cases, the value of bit 4 is optional.
Bit 6 Switch on disabled
Bit 7 Warning is active
Bit 8 Deactivate RPDOs Cyclic PDOs have been deactivated in 0x2824 (or 0x3024
for axis B).
Bit 9 Remote Drive can receive commands via EtherCAT.
Bit 10 Target reached The actual position is located in the window (0x6067 or
0x6867 for axis B).
Bit 11 Internal limitation is active For details see Lenze status word (0x2831 or 0x3031 for
axis B).
Bit 12 Drive Follows Command Operation is enabled and no test mode is activated (no
internal setpoint generation active).
Bit 13 Following error The position could not be approached.
Bit 14 Brake released
Bit 15 STO is not active
0x605A | 0x685A - Quick stop option code
Device status after exiting the quick stop ramp

2 = automatic changeover to the "Switch-on disabled" device status
6 = the axis remains in the "Quick stop active" device status.

2 6 2
0x6060 | 0x6860 - Modes of operation
Selection of the operating mode:

0 = no operating mode (standstill)
2 = Velocity mode
8 = Cyclic sync position mode
9 = Cyclic sync velocity mode
10 = Cyclic sync torque mode
7.4 Device control
________________________________________________________________

0 10 0
 Write access  CINH  OSC  P  RX  TX INTEGER_8
0x6061 | 0x6861 - Modes of operation display
Display of the current operating mode:

0 = no operating mode (standstill)
2 = Velocity mode
8 = Cyclic sync position mode
9 = Cyclic sync velocity mode
10 = Cyclic sync torque mode

0 10
0x6085 | 0x6885 - Quick stop deceleration
Change in velocity used for deceleration to a standstill if quick stop is activated.

• In consideration of the position encoder resolution set in 0x608F (or 0x688F for axis B) (see sample calculation
below).

0 [Pos unit/s²] 2147483647 2147483647 [Pos unit/s²]
Example: Calculation of the deceleration to be set at a given ramp time

Specifications:
• Position encoder resolution (0x608F) = "16 bits/revolution".
 A mechanical motor revolution is indicated with 65536 increments.
• Initial speed of the motor = 1000 rpm
• Duration of the ramp until standstill = 2.5 s
Deceleration to be set:
Initial speed 1 0x608F:1
Delay = ------------------------------- ⋅ ------ ⋅ ------------------------
Period 60 0x608F:2
1000 [ r/min ] 1 65536 [increments]

0x6085 = ----------------------------------- ⋅ --------------------------- ⋅ ---------------------------------------------------
2.5 [s] 60 [s/min] 1 [r]
Increments
0x6085 = 436907 -----------------------------
2
s
7.4 Device control
________________________________________________________________
7.4.1 Commands for the device status control
Via the CiA402 control word (0x6040 or 0x6840 for axis B), commands can be triggered that serve
to navigate the servo inverter to a specific device state:
Command Bit pattern in the Controlword

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Fault reset Control bits depending on the operating Enable Activate Enable Switching on
mode operation quick stop voltage
Shutdown 0 X X X X 1 1 0
Switching on 0 X X X X 1 1 1
Enable operation 0 X X X 1 1 1 1
Activate quick stop 0 X X X X 0 1 X
Disable operation 0 X X X 0 1 1 1
Disable voltage 0 X X X X X 0 X
Fault reset 01 X X X X X X X
X = Status not significant
 Tip!
The greyed out control bits listed in the table are not important for the activation of
commands but only serve to improve readability of the bit patterns.
A PLC program of a PLCopen control can, for instance, trigger several commands for state
changes in a row by the level change at the bRegulatorOn input of the "MC_Power" block.
In the mentioned example, these device commands are "switch-off" and "switch-on" in this
order.
Detailed information on the different commands can be obtained from the following
subchapters.
Further Lenze-specific control bits (bits 8 ... 15)
Device control Bit pattern in the Controlword

command
Reserved Release Reserved
brake
Apply brake X 0 X X X X X X
Release brake X 1 X X X X X X
7.4 Device control
________________________________________________________________
7.4.1.1 Shutdown
This command changes the device status from

Power-on
"Switch on disabled" to "Ready to switch on".
If pulse inhibit has already been deactivated
Not ready to Fault reaction
switch on 0 active and the device status of the servo inverter is
"Operation enabled", this command can be
used to set pulse inhibit again.
• If automatic brake operation is activated,
the parameterised brake closing time is
Switch-on
disabled
Fault observed: The system waits until the brake
is applied before the pulse inhibit is set.
1 • The motor becomes torqueless.
2 • The device status "Switched on" or
Ready to Quick stop "Operation enabled" changes back to
switch on active "Ready to switch on".
 Danger!
If the motor gets torqueless and a load is
Switched Operation connected, motors without a holding brake
on enabled
may move in an uncontrolled way!
In case no load is connected, the motor is
 From all states coasting.
 Power section inhibited (pulse inhibit)
 Power section enabled
Bit pattern for the "Shutdown" command in the Controlword (0x6040 or 0x6840 for axis B):
Bits 15 - 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Fault reset Control bits depending on the operating mode Enable Activate quick Enable voltage Switching on
operation stop
X 0 X X X X 1 1 0
7.4 Device control
________________________________________________________________
7.4.1.2 Switching on
This command serves to deactivate the switch

Power-on
on inhibit which is active after switch on or
after the reset (acknowledgement) of an error.
switch on 0 active • A changeover to the "Switched on" device
status takes place.
Switch-on
Fault
disabled
1
2
Ready to Quick stop
switch on active
Switched Operation
on enabled
 From all states

Bit pattern for the "Switch on" command in the Controlword (0x6040 or 0x6840 for axis B):
operation stop
X 0 X X X X 1 1 1
7.4 Device control
________________________________________________________________
7.4.1.3 Enable operation
This command serves to enable the operation

Power on
Power-on
and stop an active quick stop again.
• A changeover to the "Operation enabled"
switch on 0 active device status takes place.
• The output stages of the servo inverter are
activated.
Switch-on
Fault
disabled
1
2
Ready to Quick stop
switch on active
Switched Operation
on enabled
 From all states

Bit pattern for the "Enable operation" command in the Controlword (0x6040 or 0x6840 for axis B):
operation stop
X 0 X X X 1 1 1 1
 Note!
The signalling of the "Operation enabled" device status in the CiA402 status word can be
delayed in the following cases:
• If in case of the synchronous motor servo control the "pole position identification
option has been activated before the start in 0x2C63 (or 0x3463 for axis B) and is just
running (few milliseconds).
• If the brake is in the "control via device state machine" mode and the brake opening
time (0x2820 or 0x3020 for axis B) has not elapsed yet.
• If an asynchronous motor is used which has not been magnetised yet.
Check the setting of the rated motor current (0x6075 or 0x6875 for axis B) and the
maximum device current (0x6073 or 0x6873 for axis B).
Only when the "Operation enabled" device status is signalled in the CiA402 status word,
the points mentioned before are concluded and the i700 servo inverter is ready for the
acceptance of setpoints of the Controller.
7.4 Device control
________________________________________________________________
7.4.1.4 Activate quick stop
This command serves to activate quick stop

Power-on
when operation is enabled.
• Irrespective of the setpoint specified, the
switch on 0 active drive is brought to a standstill with the
deceleration set for quick stop (0x6085 or
0x6885 for axis B).
• A changeover to the "Quick stop active"
device status takes place.
Switch-on
Fault
disabled If the operation has not been enabled yet
(status "Ready to switch on" or "Switched on"),
1 this command triggers a change to the "Switch
2 on disabled" device status.
Ready to Quick stop
switch on active
Switched Operation
on enabled
 From all states

Bit pattern for the "Quick stop" in the Controlword (0x6040 or 0x6840 for axis B):
operation stop
X 0 X X X X 0 1 X
 Note!
During quick stop, the drive executes the setpoint generation and no longer follows the
setpoint defined by the controller!
If several drives execute a chained synchronous motion, the quick stop function has to
be coordinated by the Controller by means of a quick stop profile (master function). In
this case, quick stop cannot be activated via the control bit 6!
Up to and including version 1.6.3:
Triggering the quick stop causes the drive to be stopped along the current limit of
0x6073 / 0x6873. The torque limits from 0x60E0 / 0x68E0, 0x60E1 / 0x68E1 and 0x6072
/ 0x6872 are not effective during the quick stop!
From version 1.7.0
During the quick stop, both the current limit 0x6073 and the torque limit 0x6072 are
active. The smaller of the two limits determine the output motor torque. The torque
limits from 0x60E0 and 0x60E1 have no effect during the quick stop.
7.4 Device control
________________________________________________________________
7.4.1.5 Disable operation
This command serves to inhibit the enabled

Power-on
operation again.
• The pulse inhibit is set.
switch on 0 active • If automatic brake operation is activated,
the parameterised brake closing time is
observed: The system waits until the brake
is applied before the pulse inhibit is set.
Switch-on • A changeover back to the "Switched on"
Fault
disabled device status takes place.
1
2
Ready to Quick stop
switch on active
Switched Operation
on enabled
 From all states

Bit pattern for the "Disable operation" command in the Controlword (0x6040 or 0x6840 for axis B):
operation stop
X 0 X X X 0 1 1 1
7.4 Device control
________________________________________________________________
7.4.1.6 Disable voltage
This command serves to inhibit the output

Power-on
stages of the servo inverter again.
• Pulse inhibit is set (unless it already has
switch on 0 active been set), i.e. the pulses of the servo
inverter are inhibited.
• The motor becomes torqueless.
• A changeover back to the "Switch on
Switch-on disabled" device status takes place.
Fault
disabled
1
 Danger!
2 If the motor gets torqueless and a load is
connected, motors without a holding brake
Ready to Quick stop may move in an uncontrolled way!
switch on active
In case no load is connected, the motor is
coasting.
Switched Operation
on enabled
 From all states

Bit pattern for the "Disable voltage" in the Controlword (0x6040 or 0x6840 for axis B):
operation stop
X 0 X X X X X 0 X
7.4 Device control
________________________________________________________________
7.4.1.7 Fault reset
This command serves to reset an existing fault

Power-on
if the cause of the fault has been eliminated.
• The pulse inhibit remains set.
switch on 0 active • A changeover to the "Switch on disabled"
device status takes place, i. e. the switch on
inhibit is active.
Switch-on
Fault
disabled
1
2
Ready to Quick stop
switch on active
Switched Operation
on enabled
 From all states

Bit pattern for the "Reset fault" in the Controlword (0x6040 or 0x6840 for axis B):
operation stop
X 01 X X X X X X X
7.4 Device control
________________________________________________________________
7.4.2 Device states
The current device status of the drive can be read via the Statusword (0x6041 or 0x6841 for axis B):
Device status Bit pattern in the Statusword

Warning is Switch on Quick stop Voltage Fault active Operation Switched on Ready to
active disabled enabled enabled switch on
Not ready to switch X 0 X X 0 0 0 0

on
Switch on disabled X 1 X X 0 0 0 0
Ready to switch on X 0 1 X 0 0 0 1
Switched on X 0 1 X 0 0 1 1
Operation enabled X 0 1 X 0 1 1 1
Quick stop active X 0 0 X 0 1 1 1
Fault reaction active X 0 X X 1 1 1 1
Fault X 0 X X 1 0 0 0
 Tip!
Bits 4 ("Voltage enabled") and 7 ("Warning active") are not relevant as regards the device
status and merely serve the purpose of a better readability of the bit patterns here.
Detailed information on the different device states can be obtained from the following
subchapters.
"Warning active" status bit

Via bit 7 in the Statusword, a warning is indicated.
• The occurrence of a warning does not cause a state change.
• Warnings do not need to be reset.
7.4 Device control
________________________________________________________________
Further Lenze-specific status bits (bits 8 ... 15)
Device status Bit pattern in the status word

STO Brake Following Drive follows Internal Target Remote RPDOs
is not active released error setpoint limitation is reached deactivated
selection active
Brake applied X 0 X X X X X X
Brake released X 1 X X X X X X
STO is active 0 X X X X X X X
STO is not active 1 X X X X X X X
7.4 Device control
________________________________________________________________
7.4.2.1 Not ready to switch on
Power on
This is the status of the servo inverter directly
after switching on the supply voltage.
Not ready to Fault reaction • In this device status, the device is
switch on active initialised.
• Communication is not possible yet.
• The servo inverter cannot be
Switch on Fault parameterised yet and no device
disabled active commands can be carried out yet.
• The motor brake, if available, is closed.
• The operation is inhibited.
Ready to Quick stop
switch on active
Switched Operation
on enabled
Bit pattern for the "Not ready to switch on" device status in the Statusword (0x6041 or 0x6841 for axis B):
X X 0 X X 0 0 0 0
 Note!
The servo inverter changes to the "Switch on disabled" device state if the EtherCAT bus
is in the "Operational" state or if PDO communication is deactivated via object 0x2824
(or 0x3024 for axis B).
7.4 Device control
________________________________________________________________
7.4.2.2 Switch on disabled
Power on
This is the servo inverter's status after the
device has been initialised successfully.
Not ready to Fault reaction • The process data monitoring is active.
switch on active
• Communication is possible.
• DC-bus voltage is available.
• The servo inverter can be parameterised.
Switch on Fault
disabled active • If the internal holding brake control is
active in the i700 servo inverter (0x2820:1
= 0), the motor brake is closed!
Ready to Quick stop
switch on active
Switched Operation
on enabled
Bit pattern for the "Switch on disabled" device status in the Statusword (0x6041 or 0x6841 for axis B):
X X 1 X X 0 0 0 0
7.4 Device control
________________________________________________________________
7.4.2.3 Ready to switch on
Power on
This is the device status of the Servo-Inverter
i700 after the device has been initialised
successfully and after the servo inverter has
switch on active received the "Shutdown" command.
• The process data monitoring is active.
Switch on Fault • DC-bus voltage is available.

disabled active
• The Servo-Inverter i700 can be
parameterised.
• If the internal holding brake control is
Ready to Quick stop
switch on active = 0), the motor brake is closed!
Switched Operation
on enabled
Bit pattern for the "Ready to switch on" device status in the Statusword (0x6041 or 0x6841 for axis B):
X X 0 1 X 0 0 0 1
 Note!
A changeover to this device status is also effected if, in the Switched on" or "Operation
enabled" device status, the "Shutdown" command is activated.
The change to the sequential "Switched on" state is effected by activation of the
"Switching on" command.
7.4 Device control
________________________________________________________________
7.4.2.4 Switched on
Power on
In the Ready to switch on" device status, this is
the status of the Servo-Inverter i700 after it
has received the "Switching on" command.
switch on active • The process data monitoring is active.
• DC-bus voltage is available.
Switch on Fault • The Servo-Inverter i700 can be
disabled active
parameterised.
Ready to Quick stop
switch on active
Switched Operation
on enabled
Bit pattern for the "Switched on" device status in the Statusword (0x6041 or 0x6841 for axis B):
X X 0 1 X 0 0 1 1
 Note!
The changeover to the "Operation enabled" device status, and thus to operation enable,
is effected by triggering the "Enable operation" command.
The signalling of the "Operation enabled" device status in the CiA402 status word can be
delayed in the following cases:
• If in case of the synchronous motor servo control the "pole position identification
option has been activated before the start in 0x2C63 (or 0x3463 for axis B) and is just
running (few milliseconds).
• If the brake is in the "control via device state machine" mode and the brake opening
time (0x2820 or 0x3020 for axis B) has not elapsed yet.
• If an asynchronous motor is used which has not been magnetised yet.
Check the setting of the rated motor current (0x6075 or 0x6875 for axis B) and the
maximum device current (0x6073 or 0x6873 for axis B).
Only when the "Operation enabled" device status is signalled in the CiA402 status word,
the points mentioned before are concluded and the i700 servo inverter is ready for the
acceptance of setpoints from the control.
7.4 Device control
________________________________________________________________
7.4.2.5 Operation enabled
Power on
This device status represents normal
operation. The operation in the operating
mode selected is enabled and no errors are
switch on active pending.
• Only those parameters of the servo
inverter can be changed that do not
require controller inhibit.
Switch on
disabled
Fault
active
• A possibly available motor brake is
released if the automatic operating mode
of the Holding brake control is activated.
• The drive control is working.
Ready to Quick stop
switch on active
Switched Operation
on enabled
Bit pattern for the "Operation enabled" device status in the Statusword (0x6041 or 0x6841 for axis B):
X X 0 1 X 0 1 1 1
7.4 Device control
________________________________________________________________
7.4.2.6 Quick stop active
Power on
This device status is active if quick stop is
executed or is active.
Not ready to Fault reaction • Only those parameters of the servo
switch on active inverter can be changed that do not
require controller inhibit.
Switch on
disabled
Fault
active
• The drive control is working.
Ready to Quick stop

switch on active
Switched Operation
on enabled
Bit pattern for the "Quick stop active" device status in the Statusword (0x6041 or 0x6841 for axis B):
X X 0 0 X 0 1 1 1
 Note!
The "Enable operation" command serves to deactivate an active quick stop again.
7.4 Device control
________________________________________________________________
7.4.2.7 Fault reaction active
Power on
If a minor fault occurs, i. e. the drive is still able
to actuate the motor in a controlled manner,
this device status becomes active and the drive
switch on active is brought to a standstill irrespective of the
setpoint specified with the deceleration set for
quick stop (0x6085 or 0x6885 for axis B).
• Only those parameters of the servo
Switch on Fault inverter can be changed that do not
disabled active require controller inhibit.
Ready to Quick stop
switch on active • The drive control is working.
Switched Operation
on enabled
Bit pattern for the "Fault reaction active" device status in the Statusword (0x6041 or 0x6841 for axis B):
X X 0 X X 1 1 1 1
 Note!
After quick stop has been executed, i. e. when the drive is at standstill, an automatic
changeover to the "Fault" device status is effected.
The "Fault" device status can only be exited using the "Fault reset" command if the cause
of the fault is eliminated.
7.4 Device control
________________________________________________________________
7.4.2.8 Fault
Power on
If a grave error occurs, i.e. the drive is not able
to operate the motor in a controlled manner
anymore, the drive is switched off immediately
switch on active and this device state becomes active.
• Pulse inhibit is set, i.e. the pulses of the
servo inverter are inhibited.
• The motor is torqueless.
Switch on Fault
disabled active • The motor brake, if available, is closed.
• The servo inverter can be parameterised.
Ready to Quick stop
switch on active
Switched Operation
on enabled
Bit pattern for the "Fault" device status in the Statusword (0x6041 or 0x6841 for axis B):
X X 0 X X 1 0 0 0
 Note!
This device status can only be left using the "Fault reset" command if the cause of the
fault is eliminated.
7.4 Device control
________________________________________________________________
7.4.2.9 STO ("Safe Torque Off")

The status of "Safe Torque Off" is included in bit 15 as part of the CiA402 status word. Bit 15 contains
information whether STO is active or not.
This status information is required since the activation of STO causes all integral control parts to be
deleted. In case of hoists, for instance, the drive would be sagging without any corrective measures
after completing STO.
In order to prevent this unwanted state, the control has to be preloaded with a starting value after
completing STO:
• In case of a control type with encoder, the integral-action component of the speed controller has
to be preloaded.
• In case of the "VFC" control type, the slip frequency has to be preloaded.
 Note!
If STO is inhibited, a changeover to the "Switch on disabled" device status takes place and
a warning is transmitted.
7.4 Device control
________________________________________________________________
7.4.3 Selection of the operating mode
The drive behaviour depends on the selected operating mode. The operating mode is selected by the
Controller via the 0x6060 object (or 0x6860 for axis B) in the communication statuses "Pre-
Operational" or "Operational". Access can be effected via SDO or PDO.
• Only one operating mode at a time can be active.
• The operating modes differ by the type of setpoint selection.
• The following table shows the permissible operating modes with the corresponding object
value:
Modes of operation Object value Setpoint selection

Velocity mode (vl) 2 Velocity
Cyclic sync position mode (csp) 8 Position
Cyclic sync velocity mode (csv) 9 Velocity
Cyclic sync torque mode (cst) 10 Torque
- All other values - (Standstill)
 Tip!
The operating mode currently set can be read via the 0x6061 object (or 0x6861 for axis B).
For this object, too, access is possible via SDO or PDO.
7.5 Parameters for the scaling of physical values
________________________________________________________________

Axis A Axis B
0x607E 0x687E Polarity UNSIGNED_8

0x6080 0x6880 Max motor speed UNSIGNED_32
0x608F 0x688F Position encoder resolution RECORD
0x6090 0x6890 Velocity encoder resolution RECORD
0x607E | 0x687E - Polarity
Mounting position
• Only the setting "0" is accepted.

0 0 0
0x6080 | 0x6880 - Max. motor speed
Speed limitation

0 r/min 480000 6075 r/min
 Write access  CINH  OSC  P  RX  TX UNSIGNED_32
________________________________________________________________
0x608F | 0x688F - Position encoder resolution
Resolution of the position detection by the motor encoder

1 Encoder increments 0x00010000: 16 Bit UNSIGNED_32
2 Motor revolutions 1 UNSIGNED_32
Subindex 1: Encoder increments

Setting of the number of bits with which a mechanical motor revolution is to be resolved.
0x00010000 16 bits
0x00040000 18 bits
0x00100000 20 bits
0x00400000 22 bits
0x01000000 24 bits
0x04000000 26 bits
0x10000000 28 bits
0x40000000 30 bits
Subindex 2: Motor revolutions

Number of motor revolutions
• Only the setting "1" is accepted.
1 1 1
Explanation
The 0x608F index can be used to select a specific part of a motor position for position detection. The
selection also determines the resolution of the position setpoints and the quality or rigidity of a
position control.
The selection to be made in the 0x608F:1 index directly determines the resolution of the motor
revolutions and indirectly determines the resolution of the motor revolutions to be counted.
An example illustrates this circumstance: Index 0x608F:1 = "18 bits" means that a motor revolution
is displayed in a resolution of 18 bits. The i700 servo inverter is internally dimensioned to variables
with 32 bits. Thus, the remaining 14 bits are used for counting the motor revolutions.
The Lenze setting considers the use of a Lenze motor with resolver feedback. The resolver provides
a value for a motor revolution in a resolution of approximately 16 bits.
Selection criteria
If the number of motor revolutions to be distinguished on the part of the process is not important,
the following recommendation can be given regarding the setting of 0x608F:
og (encoder increment) / Log(2) + 10 bit
________________________________________________________________
0x608F is selected in such a way that the values to be parameterised only slightly exceed the display
option of the feedback system.
0x6090 | 0x6890 - Velocity encoder resolution
Note: This object is not used in the firmware and only available for compatibility reasons. Do not use the contained
values for a calculation on the control level.

1 Incr./s 33554432 UNSIGNED_32
2 Motor revolutions/s 125 UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX
7.6 Parameters for actuation of the position control
________________________________________________________________
The objects described in this chapter actuate the position control (including the following error and
in-position recognition). All objects comply with the CiA402 specification.
Interpolation
Unit Position demand internal value
Target position _p Closed Control effort
0x607A | 0x687A 0x60FC | 0x68FC 0x60FA | 0x68FA
loop
Position actual internal value
position
0x6063 | 0x6863
control
Interpolation time period 0x60C2 | 0x68C2
Following error window

0x6065 | 0x6865 Following error actual value
Following error time out 0x60F4 | 0x68F4
0x6066 | 0x6866 Statusword / Bit 13
Position window 0x6041 | 0x6841
0x6067 | 0x6867 Statusword / Bit 10
Position window time 0x6041 | 0x6841
0x6068 | 0x6868
[7-1] Access to the position control via the CiA402 device profile
Input data

Axis A Axis B

Output data

Axis A Axis B

0x60FA 0x68FA Control effort INTEGER_32
Device control
0x6062 | 0x6862 - Position demand value
Interpolated set position for the position control
________________________________________________________________

-2147483648 [Pos unit] 2147483647 0 [Pos unit]
 Write access  CINH  OSC  P  RX  TX INTEGER_32
0x6063 | 0x6863 - Position actual internal value
Actual position in internal unit

-2147483648 Incr. 2147483647
0x6064 | 0x6864 - Position actual value
Current position

-2147483648 [Pos unit] 2147483647
see Explanation
0x6065 | 0x6865 - Following error window
Symmetrical tolerance window around the set position for the purpose of following error detection
• If the tolerance window is set = "0", the following error detection is deactivated.
• If the tolerance window is set > "0", the following error detection is activated, i.e. a following error will be
detected if the actual position is outside this tolerance window.
• If the following error detection is active: If the following error is detected for a period longer than that defined
in [ms] in object 0x6066 (or 0x6866 for axis B), bit 13 ("Following error") is set in the Statusword (0x6041 or
0x6841 for axis B).
• Object 0x60F4 (or 0x68F4 for axis B) shows the current deviation of the actual position to the set position.

0 [Pos unit] 4294967295 1000 [Pos unit]
0x6066 | 0x6866 - Following error time out
Time monitoring for following error detection

0 = following error is evaluated without time delay.

0 ms 0 0 ms
________________________________________________________________
0x6067 | 0x6867 - Position window
Symmetrical tolerance window around the target position for in-position recognition
• If the actual position is within this tolerance window for a longer period than for the time defined in [ms] in
object 0x6068 (or 0x6868 for axis B) , the target position is considered as reached, and bit 10 ("Target position
reached") is set in the Statusword (0x6041 or 0x6841 for axis B).

0 [Pos unit] 4294967295 1000 [Pos unit]
0x6068 | 0x6868 - Position window time
Time monitoring for the status message "target position reached"

0 = position in the target window is evaluated without time delay.

0 ms 0 0 ms
0x60F4 | 0x68F4 - Following error actual value
Current following error

-2147483648 [Pos unit] 2147483647
0x60FA | 0x68FA - Control effort
Target position for the position control

-480000 [n unit] 480000
0x60FC | 0x68FC - Position demand internal value
Interpolated set position for the position control in the internal unit

-2147483648 Incr. 2147483647 0 incr.
 Write access  CINH  OSC  P  RX  TX INTEGER_32
7.7 Velocity mode (vl)
________________________________________________________________
Selection of the operating mode

"Velocity mode" is selected with the setting "2" in 0x6060 (or 0x6860 for axis B).
7.7.1 Default mapping
The default mapping for the "Velocity mode" is defined in the following objects:

Axis A Axis B
0x1603 0x1613 RPDO-->Axis A/B: Velocity mode (vl) RECORD

0x1A03 0x1A13 Axis A/B-->TPDO: Velocity mode (vl) RECORD
Date received from the controller (RPDO)

Axis A Axis B

Data transmitted to the controller (TPDO)

Axis A Axis B

________________________________________________________________
7.7.2 Object description
The following two tables provide an overview of the most important objects for this operating
mode (without motor parameters, motor control parameters, and feedback parameters).
range.

Axis A Axis B
Lenze control and status word

Device control

Axis A Axis B

0x6043 0x6843 vl velocity demand INTEGER_16
0x6046 0x6846 vl velocity min max amount RECORD
0x6048 0x6848 vl velocity acceleration RECORD
0x6049 0x6849 vl velocity deceleration RECORD
0x6042 | 0x6842 - vl target velocity

-32768 r/min 32767 0 rpm
0x6043 | 0x6843 - vl velocity demand

-32768 r/min 32767
________________________________________________________________
0x6044 | 0x6844 - vl velocity actual value

-32768 r/min 32767
0x6046 | 0x6846 - vl velocity min max amount

1 vl velocity min amount 0 rpm UNSIGNED_32
2 vl velocity max amount 2147483647 r/min UNSIGNED_32
Subindex 1: vl velocity min amount

0 r/min 0 0 rpm
Subindex 2: vl velocity max amount

2147483647 r/min 2147483647 2147483647 r/min
0x6048 | 0x6848 - vl velocity acceleration

1 Delta speed 0 rpm UNSIGNED_32
2 Delta time 10 s UNSIGNED_16
Subindex 1: Delta speed

0 r/min 2147483647 0 rpm
Subindex 2: Delta time

0 s 65535 10 s
0x6049 | 0x6849 - vl velocity deceleration

1 Delta speed 0 rpm UNSIGNED_32
2 Delta time 10 s UNSIGNED_16
________________________________________________________________
Subindex 1: Delta speed

0 r/min 2147483647 0 rpm
Subindex 2: Delta time

0 s 65535 10 s
7.7.3 Signal flow (servo control)
Controlword Statusword Positive torque limit value

Lenze control word CTRL Lenze status word Negative torque limit value
Modes of operation Modes of operation display
Ramp Speed Speed
function limitation controller
vl target velocity
Torque Field-orientated
Interpolation vl velocity limitation control
demand Iq
Torque offset
Id M
Position actual value vl velocity actual value Torque actual value
Encoder
evaluation
[7-2] Signal flow of the servo control in "Velocity mode" (simplified representation)
Short overview of the most important parameters:
Function Object Name

Axis A Axis B
Input data 0x6040 0x6840 Controlword

0x2830 0x3030 Lenze control word
0x6060 0x6860 Operating mode: Selection
0x6042 0x6842 vl target velocity
0x60B2 0x68B2 Torque offset
0x60E0 0x68E0 Positive torque limit value
0x60E1 0x68E1 Negative torque limit value
________________________________________________________________

Axis A Axis B
Output data 0x6041 0x6841 Statusword

0x2831 0x3031 Lenze status word
0x6061 0x6861 Modes of operation display
0x6043 0x6843 vl velocity demand
0x6064 0x6864 Position actual value
0x606C 0x686C Velocity actual value
0x6077 0x6877 Torque actual value
Interpolation 0x60C2 0x68C2 Interpolation time period
Ramp function 0x6048:1 0x6848:1 Delta speed

0x6048:2 0x6848:2 Delta time
0x6049:1 0x6849:1 Delta speed
0x6049:2 0x6849:2 Delta time
Speed limitation 0x6080 0x6880 Max motor speed
0x2903 0x3103 Speed: Speed setpoint - filter time
Speed controller 0x2900:1 0x3100:1 Speed controller: Gain

0x2900:2 0x3100:2 Speed controller: Reset time
0x2900:3 0x3100:3 Speed controller: Rate time
0x2901 0x3101 Speed controller: Gain - adaptation
0x2902:0 0x3102:0 Speed controller: Load I component
Torque limitation 0x60E0 0x68E0 Positive torque limit value
0x6076 0x6876 Motor rated torque
0x6072 0x6872 Max torque
0x2944:1 0x3144:1 Notch filter 1: Frequency
0x2944:2 0x3144:2 Notch filter 1: Bandwidth
0x2944:3 0x3144:3 Notch filter 1: Damping
________________________________________________________________

Axis A Axis B
Field-oriented control 0x6073 0x6873 Max current

,T 0x6075 0x6875 Motor rated current
,G
0x2941 0x3141 Current controller: Feedforward control
0x2942:1 0x3142:1 Current controller: Gain
0x2942:2 0x3142:2 Current controller: Reset time
0x29E2 0x31E2 DC link circuit voltage: Filter time
0x29E3 0x31E3 Motor voltage act. value: Filter time
0x29E0:1 0x31E0:1 Field weakening controller: Gain
0x29E0:2 0x31E0:2 Field weakening controller: Reset time
0x29E1 0x31E1 Field set value limitation
0x29C0:1 0x31C0:1 Field controller: Gain
0x29C0:2 0x31C0:2 Field controller: Reset time
0x2939 0x3139 Switching frequency
7.7.4 Signal flow (V/f characteristic control)
Controlword Statusword
Lenze control word CTRL Lenze status word
DC-injection braking Flying restart process
Slip compensation
Load V/f
adjustment characteristic
Ramp Speed Current Frequency PWM
function limitation limitation limitation
vl target velocity M
Oscillation Current actual value
vl velocity demand damping Current demand value Voltage actual value
is limited Output frequency
vl velocity actual value actual value
[7-3] Signal flow of the V/f characteristic control in "Velocity mode" (simplified representation)

Axis A Axis B

0x6042 0x6842 vl target velocity
________________________________________________________________

Axis A Axis B

0x6043 0x6843 vl velocity demand
0x6078 0x6878 Current actual value
0x2D82 0x3582 Motor: Actual voltage - Veff, phase-phase
0x2DDD 0x35DD Device: Actual output frequency
Ramp function 0x6048:1 0x6848:1 Delta speed
0x6048:2 0x6848:2 Delta time
0x6049:1 0x6849:1 Delta speed
0x6049:2 0x6849:2 Delta time
Slip compensation 0x2B09:1 0x3309:1 VFC: Slip compensation - influence

0x2B09:2 0x3309:2 VFC: Slip compensation - filter time
Oscillation damping 0x2B0A:1 0x330A:1 VFC: Oscillation damping - gain

0x2B0A:2 0x330A:2 VFC: Oscillation damping - filter time
0x2B0A:3 0x330A:3 VFC: Oscillation damping - limitation
0x2B0A:4 0x330A:4 VFC: Oscillation damping - ramp-end frequency
Load adjustment 0x2B07:1 0x2B07:1 VFC: Load adjustment - direction of rotation
0x2B07:2 0x2B07:2 VFC: Load adjustment - value
V/f characteristic 0x2B01:1 0x3301:1 VFC: V/f characteristic - voltage at reference point
0x2B01:2 0x3301:2 VFC: V/f characteristic - frequency at reference point
0x2B06 0x3306 VFC: Voltage boost
0x2B04 0x3304 VFC: Voltage vector control - current setpoint
0x2B00 0x3300 VFC: V/f characteristic - shape
0x2B02:x 0x3302:x VFC: User defined V/f characteristic
• Frequency grid points (x1 ... x11)
• Voltage grid points (y1 ... y11)
DC-injection braking 0x2B80 0x3380 DC-injection braking: Current
Flying restart function 0x2BA0 0x33A0 Flying restart: Activate

0x2BA1 0x33A1 Flying restart: Current
0x2BA2 0x33A2 Flying restart: Start frequency
0x2BA3 0x33A3 Flying restart: Integration time
0x2BA4 0x33A4 Flying restart: Min. deviation
0x2BA5 0x33A5 Flying restart: Delay time
0x2BA6 0x33A6 Flying restart: Result
________________________________________________________________
 Tip!
A detailed representation of the signal flow with all relevant parameters can be found in
the »PLC Designer« on the Signal flow tab for the i700 servo inverter.
7.8 Cyclic sync position mode (csp)
________________________________________________________________
This operating mode provides a quick position follower with speed/torque/feed force feedforward
control. The motion profile to be processed is defined by the controller.
 Note!
This operating mode can only be actuated reasonably by the use of a servo control.
Motor control & motor settings
Subfunctions of the operating mode

• Calculation of the position setpoint
• Calculation of the speed feedforward control value
• Interpolation between communication cycle and control cycle
• Position control
• Speed control
• Torque control
• Update of the actual values for position, speed, and torque

"Cyclic sync position mode" is selected with the setting "8" in 0x6060 (or 0x6860 for axis B).
________________________________________________________________
The default mapping for the cyclic sync position mode is defined in the following objects:

Axis A Axis B
0x1600 0x1610 RPDO-->Axis A/B: Cyclic syncs position (csp) RECORD

0x1606 0x1616 RPDO-->Axis A/B: Torque limits RECORD
0x1A00 0x1A10 Axis A/B-->TPDO: Cyclic sync position (csp) RECORD

Axis A Axis B

0x2902 0x3102 Speed controller: Load I component INTEGER_16

Axis A Axis B

0x606C 0x686C Velocity actual value UNSIGNED_16
________________________________________________________________
range.

Axis A Axis B

Device control
0x6060 0x6860 Modes of operation INTEGER_8
Parameters for actuation of the position control
Cyclic sync velocity mode (csv)
Cyclic sync torque mode (cst)

Axis A Axis B

0x60C0 0x68C0 Interpolation sub mode select INTEGER_16
________________________________________________________________
0x607A | 0x687A - Target position

-2147483648 [Pos unit] 2147483647 0 [Pos unit]
siehe Erläuterungen zum Index 0x608F
0x60C0 | 0x68C0 - Interpolation sub mode select
From version 01.03

Interpolation sub mode select
0 = linear position interpolation
-1 = square position interpolation
All other values have no function and are rejected.

-32768 32767 0
 Write access  CINH  OSC  P  RX  TX INTEGER_16
0x60C2 | 0x68C2 - Interpolation time period
Here the cycle time for the process data communication used by the L-force Controller is to be set.
• Preset interpolation time interval = 1 * 10-3 s = 1 ms

1 Interpolation time period 1 10^(Interpolation time index) s UNSIGNED_8
2 Interpolation time index -3 INTEGER_8
Subindex 1: Interpolation time period

Basic multiplier for interpolation time interval
0 10^(Interpolatio 255 1 10^(Interpolation time index) s
n time index) s
Subindex 2: Interpolation time index

Exponent for interpolation time period
-6 0 -3
Index
Interpolation time period [ s ] = Time period value ⋅ 10 [s]
[7-4] Definition of the interpolation time period
________________________________________________________________
 Tip!
For an interpolation cycle of 2 ms, for instance, the following values are to be set:
• Subindex 1 (Time period value) = "2"
• Subindex 2 (Time index) = "-3"
0x60E0 | 0x68E0 - Positive torque limit value
100 % ≡ rated motor torque (0x6076 or 0x6876 for axis B)

0.0 % 3276.7 100.0 %
0x60E1 | 0x68E1 - Negative torque limit value
100 % ≡ rated motor torque (0x6076 or 0x6876 for axis B)

0.0 % 3276.7 100.0 %
7.8.3 Signal flow

Modes of operation Modes of operation display Speed controller: Load value
Position Speed Speed
controller limitation controller
Interpolation
Target position
Velocity offset Torque Field-orientated
Torque offset limitation control
Iq
Id M
Position actual value Velocity actual value Torque actual value
Encoder
evaluation
[7-5] Signal flow of the servo control in cyclic sync position mode (simplified representation)
________________________________________________________________

Axis A Axis B

0x607A 0x687A Position demand value
0x60B1 0x68B1 Velocity offset
0x2902 0x3102 Speed controller: Load I component
Interpolation 0x60C0 0x68C0 Interpolation sub mode select
0x60C2 0x68C2 Interpolation time period
Position controller 0x2980 0x3180 Position controller: Gain

0x2981 0x3181 Position controller: Gain - adaption
0x2982 0x3182 Position controller: Output signal limitation
0x2983 0x3183 Position: Select new actual position
0x2984 0x3184 Determine target position: Mode

0x2902 0x3102 Speed controller: Load I component
________________________________________________________________

Axis A Axis B

,G
 Tip!
7.8.4 Control commands & status information
The following control commands can be executed in cyclic sync position mode via the Controlword
(0x6040 or 0x6840 for axis B):
Control word Status Function

Bit 4 0 Reserved (bit must be set to "0")
Bit 8 0  1 Stop
The following status information is output in cyclic sync position mode via the Statusword (0x6041
or 0x6841 for axis B):
Status word Status Meaning

Bit 12 0 Cyclic sync position mode inactive
1 Cyclic sync position mode active
7.9 Cyclic sync velocity mode (csv)
________________________________________________________________
This operating mode provides a quick speed follower with torque/feed force feedforward control.
The motion profile to be processed is defined by the controller.

• Calculation of the speed setpoint
• Interpolation between communication cycle and control cycle
• Speed control
• Torque control
• Limitation of the motor speed

Cyclic sync velocity mode is selected with the setting "9" in 0x6060 (or 0x6860 for axis B).
________________________________________________________________
The default mapping for the cyclic sync velocity mode is defined in the following objects:

Axis A Axis B
0x1602 0x1612 RPDO-->Axis A/B: Cyclic sync velocity mode (csv) RECORD
0x1606 0x1616 RPDO-->Axis A/B: Torque limits RECORD
0x1A02 0x1A12 Axis A/B-->TPDO: Cyclic sync velocity mode (csv) RECORD

Axis A Axis B


Axis A Axis B

________________________________________________________________
range.

Axis A Axis B

Device control
Cyclic sync position mode (csp)
Cyclic sync torque mode (cst)

Axis A Axis B

0x606C | 0x686C - Velocity actual value
Current speed
________________________________________________________________

-480000 [n unit] 480000
0x60B1 | 0x68B1 - Velocity offset
Additive value for target velocity or velocity feedforward control

-480000 [n unit] 480000 0 [n-unit]
0x60FF | 0x68FF - Target velocity
Target velocity or velocity feedforward control

-480000 [n unit] 480000 0 [n-unit]
7.9.3 Signal flow (servo control)

Speed Speed
limitation controller
Interpolation
Velocity offset
Torque offset Torque Field-orientated
limitation control
Iq
Id M
Encoder
evaluation
[7-6] Signal flow of the servo control in cyclic sync velocity mode (simplified representation)
________________________________________________________________

Axis A Axis B

0x60B1 0x68B1 Velocity offset


0x2902:0 0x3102:0 Speed controller: Load I component
________________________________________________________________

Axis A Axis B

,G
7.9.4 Signal flow (V/f characteristic control)
Controlword Statusword
Lenze control word CTRL Lenze status word
DC-injection braking Flying restart process
Slip compensation
Load V/f
adjustment characteristic
Speed Current Frequency PWM
Interpolation limitation limitation limitation
Target velocity M
Oscillation Current actual value
damping Current demand value Voltage actual value
is limited Output frequency
Velocity actual value actual value
[7-7] Signal flow of the V/f characteristic control in cyclic sync velocity mode (simplified representation)

Axis A Axis B

0x60FF 0x68FF Target velocity
________________________________________________________________

Axis A Axis B

0x6078 0x6878 Current actual value
0x2D82 0x3582 Motor: Actual voltage - Veff, phase-phase
0x2DDD 0x35DD Device: Actual output frequency

Slip compensation 0x2B09:1 0x3309:1 VFC: Slip compensation - influence

0x2B09:2 0x3309:2 VFC: Slip compensation - filter time
Oscillation damping 0x2B0A:1 0x330A:1 VFC: Oscillation damping - gain

0x2B0A:2 0x330A:2 VFC: Oscillation damping - filter time
0x2B0A:3 0x330A:3 VFC: Oscillation damping - limitation
0x2B0A:4 0x330A:4 VFC: Oscillation damping - ramp-end frequency
Load adjustment 0x2B07:1 0x2B07:1 VFC: Load adjustment - direction of rotation
0x2B07:2 0x2B07:2 VFC: Load adjustment - value
V/f characteristic 0x2B01:1 0x3301:1 VFC: V/f characteristic - voltage at reference point
0x2B01:2 0x3301:2 VFC: V/f characteristic - frequency at reference point
0x2B06 0x3306 VFC: Voltage boost
0x2B04 0x3304 VFC: Voltage vector control - current setpoint
0x2B00 0x3300 VFC: V/f characteristic - shape
• Frequency grid points (x1 ... x11)
• Voltage grid points (y1 ... y11)
DC-injection braking 0x2B80 0x3380 DC-injection braking: Current
Flying restart function 0x2BA0 0x33A0 Flying restart: Activate

0x2BA1 0x33A1 Flying restart: Current
0x2BA2 0x33A2 Flying restart: Start frequency
0x2BA3 0x33A3 Flying restart: Integration time
0x2BA4 0x33A4 Flying restart: Min. deviation
0x2BA5 0x33A5 Flying restart: Delay time
0x2BA6 0x33A6 Flying restart: Result
________________________________________________________________
 Tip!
The following control commands can be executed in "Cyclic synchronous velocity mode" via the
Controlword (0x6040 or 0x6840 for axis B):

Bit 8 0  1 Stop
The following status information is output in "Cyclic synchronous velocity mode" via the
Statusword (0x6041 or 0x6841 for axis B):

Bit 12 0 Cyclic sync velocity mode inactive
1 Cyclic sync velocity mode active
7.10 Cyclic sync torque mode (cst)
________________________________________________________________
This operating mode provides a quick torque follower with speed limitation. The torque profile to
be processed is defined by the controller.
 Note!
• This operating mode can only be actuated reasonably if the servo control is set as
motor control. Motor control & motor settings
• Since this is a cyclic mode, setpoints in the bus cycle are expected.
If communication is interrupted and thus telegrams fail to appear, the internal "quick
stop" function takes over the braking of the motor. Afterwards, the controller is
inhibited.

Triggering the quick stop causes the drive to be stopped along the current limit of
0x6073 / 0x6873. The torque limits from 0x60E0 / 0x68E0, 0x60E1 / 0x68E1 and 0x6072
/ 0x6872 are not effective during the quick stop!
From version 1.7.0
During the quick stop, both the current limit 0x6073 and the torque limit 0x6072 are
active. The smaller of the two limits determine the output motor torque. The torque
limits from 0x60E0 and 0x60E1 have no effect during the quick stop.

• Torque control with speed limitation
• Calculation of the torque setpoint
• Interpolation of the setpoints from the communication cycle to the control cycle
• Limitation of the motor speed

"Cyclic synchronous torque mode" is selected with the setting "10" in 0x6060 (or 0x6860 for axis B).
________________________________________________________________
The default mapping for "Cyclic synchronous torque mode" is defined in the following objects:

Axis A Axis B
0x1601 0x1611 RPDO-->Axis A/B: Cyclic sync torque mode (cst) RECORD
0x1A01 0x1A11 Axis A/B-->TPDO: Cyclic sync torque mode (cst) RECORD

Axis A Axis B

0x2946:1 0x3146:1 Speed limitation: Upper speed limit INTEGER_32
0x2946:2 0x3146:2 Speed limitation: Lower speed limit INTEGER_32

Axis A Axis B

________________________________________________________________
range.

Axis A Axis B

Device control
Cyclic sync position mode (csp)
Cyclic sync velocity mode (csv)
Set motor parameters manually

Axis A Axis B
0x2946 0x3146 Cyclic sync torque mode: Speed limitation RECORD

0x6072 0x6872 Max torque UNSIGNED_16
0x6073 0x6873 Max current UNSIGNED_16
0x6078 0x6878 Current actual value INTEGER_16
0x6079 0x6879 DC bus: Actual voltage UNSIGNED_32
________________________________________________________________
0x2946 | 0x3146 - Cyclic sync torque mode: Speed limitation
The torque control contains a speed limitation as a protective function against very high speeds. High speeds can
occur in the case of a mere torque selection if no counter-torque is available (load-free machine).
The speed limitation function takes effect if the actual motor speed reaches the limit values set here: The motor
speed is kept at the limit value in each case. If the machine is decelerated by a counter-torque again, the speed
limitation hands control back to the external setpoint via the setpoint torque.
Note!
The upper limit value must be set to a greater value than the lower limit value. There is no plausibility check in the
i700 servo inverter.

1 Speed limitation: Upper speed limit 0 [n-unit] INTEGER_32
2 Speed limitation: Lower speed limit 0 [n-unit] INTEGER_32
Subindex 1: Speed limitation: Upper speed limit

Upper limit for the speed limitation
-480000 [n unit] 480000 0 [n-unit]
Subindex 2: Speed limitation: Lower speed limit

Lower limit for the speed limitation
-480000 [n unit] 480000 0 [n-unit]
Target torque or torque feedforward control

• 100 % ≡ rated motor torque (0x6076 or 0x6876 for axis B)

-3276.8 % 3276.7 0.0 %
0x6072 | 0x6872 - Max torque
Symmetrical selection of the maximum permissible torque

• This parameter serves to implement a statically and bipolarly acting torque limitation. This can be used, for
instance, as overload protection of the mechanical transmission path/elements starting at the motor shaft.
• This limitation acts independently of the unipolarly acting torque limitations which act as process data on the
objects 0x60E0 (or 0x60E0 for axis B) and 0x60E1 (or 0x60E1 for axis B). For details see signal flow.

0.0 % 3276.7 250.0 %
________________________________________________________________
0x6073 | 0x6873 - Max current
Maximum current (maximum overload current of the device)

• This parameter serves to limit the inverter output current.
• The value to be set here results from the maximum torque required for the process and the connected motor.
The value is calculated according to the following rule of thumb:
• For synchronous motors (SM):
Axis A: 0x6073 [%] = Mmax_process [Nm] / 0x6076 [Nm] * 100
Axis B: 0x6873 [%] = Mmax_process [Nm] / 0x6876 [Nm] * 100
• For asynchronous motors (ASM):
• For both motor types:
• Depending on the motor frame size, the Lenze setting of 0x6073 (or 0x6873 for axis B) and 0x6072 (or 0x6872
for axis B) serves to achieve a rated current of 150 % in case of synchronous motors and a rated current of 130 %
in case of asynchronous motors. If the process (application) needs torques above these limits, these two
parameters have to be set accordingly based on the motor data.
• If a value is set here which, multiplied by the rated motor current (0x6075 or 0x6875 for axis B) leads to a higher
current value than the maximum device current, the value is limited device-internally to a maximum device
current / rated motor current of 100 % * and output as warning in the logbook. The value set here, however, is
not changed.
Note!
This parameter is not identical to the ultimate motor current IULT (0x2D46:1 or 0x3546:1 for axis B!
• The ultimate motor current is a limit value for synchronous motors in order to protect their magnets.
• The value to be set here should always be considerably below the ultimate motor current!

0.0 % 3276.7 150.0 %
Example calculation based on the torque characteristics for MCS06C41 Lenze motor
The data apply to a mains voltage 3 x 400 V
 Mmax_process
0x6073 = Mmax_process / Mrated_motor * 100 % = 1.5 Nm / 0.7 Nm * 100 % = 215 %
 Mrated_motor
 Tip!
More torque characteristics can be found on the Internet:
________________________________________________________________
http://www.lenze.com/dsc
Interpolated target torque


-3276.8 % 3276.7 0.0 %
 Write access  CINH  OSC  P  RX  TX Scaling: 1/10 INTEGER_16
0x6077 | 0x6877 - Torque actual value
Current torque

-3276.8 % 3276.7
0x6078 | 0x6878 - Current actual value
Actual motor current


-3276.8 % 3276.7
0x6079 | 0x6879 - DC link circuit voltage
Actual DC-bus voltage

0.000 V 4294967.295
 Write access  CINH  OSC  P  RX  TX Scaling: 1/1000 UNSIGNED_32
0x60B2 | 0x68B2 - Torque offset
Additive value for the target torque or torque feedforward control

________________________________________________________________

-3276.8 % 3276.7 0.0 %
________________________________________________________________
7.10.3 Signal flow

Speed limitation:
Upper speed limit
Speed Torque Field-orientated
Interpolation limitation limitation control
Iq
Target torque
Id M
Torque offset
Velocity actual value
Speed limitation: Torque actual value
Position actual value
Lower speed limit
Encoder
evaluation
[7-8] Signal flow of the servo control in "Cyclic sync torque mode" (simplified representation)

Axis A Axis B

0x2946:1 0x3146:1 Speed limitation: Upper speed limit
0x6071 0x6871 Target torque
0x2946:2 0x3146:2 Speed limitation: Lower speed limit
Speed restriction 0x6080 0x6880 Max motor speed

________________________________________________________________

Axis A Axis B

,G
 Tip!
________________________________________________________________
The following control commands can be executed in "Cyclic synchronous torque mode" via the
Controlword (0x6040 or 0x6840 for axis B):

Bit 8 0  1 Stop
The following status information is output in "Cyclic synchronous torque mode" via the Statusword
(0x6041 or 0x6841 for axis B):

Bit 12 0 Cyclic sync torque mode inactive
1 Cyclic sync torque mode active
7.11 Touch probe (TP)
________________________________________________________________
A "Touch probe" (short: "TP") is an event which can for instance be actuated in an edge-controlled
manner via a digital input to detect an actual value (that changes quickly) at the time of activation
and to process it further within the program afterwards.
• Typical touch probe applications:
• Homing
• Mark synchronisation
• Measurements of lengths
• Up to 2 touch probe channels can be used in parallel for each axis.
• Possible touch probe sources:
• TP1 : Zero pulse position encoder or digital input DI1
• TP2 : Zero pulse position encoder or digital input DI2
 Note!
The digital inputs DI1 and DI2 can be evaluated additionally as "normal" digital inputs
via the 0x60FD object any time (or 0x68FD for axis B).

Axis A Axis B
General CiA402 parameters


Axis A Axis B
Lenze-specific objects
0x2500 Touch probe (TP): Filter time UNSIGNED_16
0x2D00 0x3500 Touch probe (TP): Delay time RECORD
0x2D01 0x3501 Touch probe (TP): Time stamp RECORD
Objects according to CiA402 specification (version 3)
________________________________________________________________
The default mapping for a touch probe detection is specified in the following objects:

Axis A Axis B
0x1604 0x1614 RPDO-->Axis A/B: Touch probe (TP) RECORD

0x1A04 0x1A14 Axis A/B-->TPDO: Touch probe (TP) RECORD

Axis A Axis B

Axis A Axis B

________________________________________________________________
7.11.2 General functional principle
If an event occurs at the touch probe source configured, a time stamp is recorded in the i700 servo
inverter.
The time stamp recorded is related to the system time and can thus be separated into two parts:
One part is the control cycle within which the event has occurred. The other part is the time
difference between the start of the control cycle determined and the actual detection of the event.
A history buffer enables the i700 servo inverter to know the last n position values. Thus, the actual
position at the start and end of the control cycle within which the event has occurred is known.
Linear interpolation is executed between these two position grid points. The result is the exact
position at the motor shaft at the time the event is triggered:
Position Event received
pn
pn-1
t1

250 µs
Pn-1 Actual position grid point 1

Pn Actual position grid point 2
 Time difference between the start of the control cycle determined and the actual detection of the event
[7-9] Determination of the exact position by linear interpolation (principle)
The position grid points are detected in the i700 servo inverter in a grid of 250 μs. After a touch
probe is tripped, the input is deactivated for up to 250 μs in order to avoid bouncing. Thus the
maximum frequency for the tripping of touch probes is 4 kHz.
If, in contrast to the steady motion outlined in figure [7-9], an accelerated motion is taken as a basis,
the 250 μs grid also allows for a very good linear position reconstruction, since the velocity change
at the motor shaft can only have a minor effect during 250 μs.
________________________________________________________________
7.11.3 Filtering the touch probe signal
A common filter time (debounce time) can be parameterised for the touch probe inputs in order to
debounce the TP signals so that there is no response to external interference signals.
• Every 31 μs, the signal status at the TP input is detected for the debounce filter and a new value
is assigned to the filter.
• Via the following object, the filter time for all touch probe inputs of both axes of the device is
set. A separate setting for a touch probe or an axis is not possible.
0x2500 - Touch probe (TP): Debounce time
Note: Since the filter is scanned with 32 kHz, there are discrete, adjustable values. After entering an optional filter
time between 0 and 1984 μs, the value is automatically internally rounded down to the next adjustable value and
is also displayed on read request.
• The filter time is automatically taken into consideration in the TP calculation.
• If the setting is "0", the filter is deactivated.

0 us 1984 0 us
7.11.4 Compensation of runtime delays
In reality, both the input connection in the i700 servo inverter and the touch probe sensor have
runtime delays (latencies) themselves. They can be taken into consideration for calculating the
actual tripping time and thus the actual position at the time of tripping.
In the following illustration, the event is detected at the time  in the i700 servo inverter. Due to
the input connection and the sensor used, however, the signal has undergone a runtime delay; the
actual physical event has already occurred at the time . In order to compensate this runtime delay,
a corresponding delay time which is taken into consideration for the determination of the control
cycle and interpolation of the position (see figure [7-9]) can be set for each touch probe channel.
Position Event received

Event
pn
pn-1
pn-2
Delay time
t
0 1
 Actual physical event
 Electrical recognition of the event in the i700 servo inverter
 Delay time between the actual physical event and the electrical recognition
[7-10] Compensation of runtime delays (principle)
________________________________________________________________
Delay times of the digital inputs and required minimum signal duration
The table below lists the delay times typical for the digital inputs of the i700 servo inverter and the
required minimum signal duration:
Digital signal Typical delay time Minimum signal duration

Rising edge (HIGH pulse) 5 - 7 μs 7 μs
Falling edge (LOW pulse) approx. 40 μs 50 μs
0x2D00 | 0x3500 - Touch probe (TP): Dead time compensation
Delay time for the compensation of runtime delays (latencies)

• Set the sum of individual delays for each touch probe channel here (sensor, cable, and input connection).

1 Dead time compensation: TP1 dead time 0.000 ms UNSIGNED_16
2 Dead time compensation: TP2 dead time 0.000 ms UNSIGNED_16
Subindex 1: Dead time compensation: TP1 delay time

0.000 ms 7.000 0.000 ms
Subindex 2: Dead time compensation: TP2 delay time

0.000 ms 7.000 0.000 ms
7.11.5 Touch probe function
0x60B8 | 0x68B8 - Touch probe function
Control word for the configuration of the touch probe functionality
________________________________________________________________

0 65535 0
Bit 0  Enable touch probe 1 0: Switch off touch probe 1
1: Enable touch probe 1
Bit 1  Trigger on first event (0) or continous Event for touch probe channel 1:
(1) 0: Record first event only
1: Record all events
Bit 2  TP: Source - TP input (0) or position Source for touch probe channel 1:
encoder zero pulse (1) 0: Digital input 1
1: Zero pulse position encoder
Bit 3  Reserved
Bit 4  TP1: Activate sampling - rising edge 0: Deactivate sampling
1: Activate sampling
Bit 5  TP1: Activate sampling - falling edge 0: Deactivate sampling
Bit 6  Reserved
Bit 7  Reserved
Bit 8  Enable touch probe 2 0: Switch off touch probe 2
1: Enable touch probe 2
Bit 9  Trigger on first event (0) or continous Event for touch probe channel 2:
(1) 0: Record first event only
1: Record all events
Bit 10  TP: Source - TP input (0) or position Source for touch probe channel 2:
encoder zero pulse (1) 0: Digital input 2
1: Zero pulse position encoder
Bit 11  Reserved
Bit 12  TP2: Activate sampling - rising edge 0: Deactivate sampling
Bit 13  TP2: Activate sampling - falling edge 0: Deactivate sampling
Bit 14  Reserved
Bit 15  Reserved
________________________________________________________________
7.11.6 Touch probe status
0x60B9 | 0x68B9 - Touch probe status
Status of the touch probe functionality

0 65535 0
Bit 0 TP1: Active 0: Touch probe channel 1 deactivated
1: Touch probe channel 1 activated
Bit 1 TP1: Position detected - rising edge 0: Position not detected
1: Position detected
Bit 2 TP1: Position detected - falling edge 0: Position not detected
Bit 3 Reserved
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Touch probe (TP): Level at release Level at detection via touch probe channel 1:
time 0: LOW level
1: HIGH level
Bit 7 Reserved
Bit 8 TP2: Active 0: Touch probe channel 2 deactivated
1: Touch probe channel 2 activated
Bit 9 TP2: Position detected - rising edge 0: Position not detected
Bit 10 TP2: Position detected - falling edge 0: Position not detected
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Touch probe (TP): Level at release Level at detection via touch probe channel 2:
time 0: LOW level
1: HIGH level
Bit 15 Reserved
________________________________________________________________
7.11.7 Time stamps and positions detected
 Note!
In the event of a "Continuous trigger" touch probe configuration, a newly detected value
overwrites the value detected before, even if it has not been retrieved by the controller.
0x2D01 | 0x3501 - Touch probe (TP): Time stamp
Time stamp for the positions detected via touch probe

• From version 01.05 on, the time stamps of the TPs are coupled to the Ethercat DC time and directly map the lower
32 bits of the DC time. Thus, an absolute time of the TP event is available for use in the system.

1 TP1: Time stamp - rising edge 0 ns UNSIGNED_32
2 TP1: Time stamp - falling edge 0 ns UNSIGNED_32
3 TP2: Time stamp - rising edge 0 ns UNSIGNED_32
4 TP2: Time stamp - falling edge 0 ns UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX
0x60BA | 0x68BA - Touch probe pos1 pos value
Touch probe position 1 detected with a rising edge

-2147483648 [Pos unit] 2147483647 0 [Pos unit]
0x60BB | 0x68BB - Touch probe pos1 neg value
Touch probe position 1 detected with a falling edge

-2147483648 [Pos unit] 2147483647 0 [Pos unit]
0x60BC | 0x68BC - Touch probe pos2 pos value
Touch probe position 2 detected with a rising edge

-2147483648 [Pos unit] 2147483647 0 [Pos unit]
________________________________________________________________
0x60BD | 0x68BD - Touch probe pos2 neg value
Touch probe position 2 detected with a falling edge

-2147483648 [Pos unit] 2147483647 0 [Pos unit]
8 Monitoring functions
8.1 24-V supply voltage monitoring
________________________________________________________________
The i700 servo inverter is provided with various monitoring functions, which are described in the
following subchapters.

Axis A Axis B
0x2D40 0x3540 Ixt utilisation RECORD

0x2D44 0x3544 Motor speed monitoring RECORD
0x2D45 0x3545 Motor phase failure detection RECORD
0x2D46 0x3546 Monitoring: Ultimate motor current RECORD
0x2D49 0x3549 Motor temperature monitoring: Parameter RECORD
0x2D4C 0x354C Motor utilisation (I²xt): Parameter for the thermal model RECORD
0x2D4D 0x354D Motor utilisation (I²xt): User-definable characteristic RECORD
0x2D4E 0x354E Motor utilisation (I²xt): Motor overload warning threshold UNSIGNED_16
0x2D4F 0x354F Motor utilisation (I²xt): Actual utilisation UNSIGNED_16
0x2D50 0x3550 Motor utilisation (I²xt): Motor overload error UNSIGNED_32
0x2D84 0x3584 Heatsink temperature RECORD
8.1 24-V supply voltage monitoring
The 24 V supply voltage is monitored by means of two specified voltage thresholds.

• The following table describes these thresholds and shows the device response resulting from
the level of the supply voltage:
Threshold Voltage Device response

U24 warn 21.45 V ±5 % Above threshold: Normal operation
Below threshold: Normal operation with warning
U24 down 18.15 V ±5 % Above threshold: Normal operation with warning
Below threshold: No operation
• Response with regard to the EtherCAT master and
adjacent EtherCAT slaves is undefined.
Related topics:
Monitoring of the DC-bus voltage ( 49)
8.2 Monitoring of the power section and device utilisation (Ixt)
________________________________________________________________
The monitoring of the device utilisation primarily protects the power section. Indirectly, also other
components such as conductors and terminals are protected. The monitoring system is designed as
simply as possible, in order to facilitate the determination of the reserves until disconnection, and
to carry out the drive dimensioning accordingly. Only cycles the arithmetic mean (AV) of which does
not exceed the continuous device current are permissible.
 "i700 servo inverter" hardware manual

In order to determine the reserves until Ixt disconnection, the rated data depending on
the switching frequency and mains operation such as the rated device current and
maximum current for the respective i700 design can be gathered from the hardware
manual. (See chapter 4.2.4 "Axis modules" and chapter 4.3 "Overcurrent operation".)
The motor current is evaluated depending on the continuously permissible rated current at the
effective switching frequency and mains voltage and is provided to two PT1 timing elements:
• The PT1 timing element with a time constant of t = 3.3 s simulates the thermal response of the
power section (power semiconductor).
• The PT1 timing element with a time constant of t = 60 s serves to monitor the cycle with
maximum current in order to protect the device from thermal overload (heatsink temperature).
Gain = 66 % t = 3.3 s Powerstage utilisation (Ixt): Act. value

0x2D40:1 | 0x3540:1
Imot
Device utilisation (Ixt): Act. value
0x2D40:4 | 0x3540:4
Gain = 80 % t = 60 s
[8-1] Ixt monitoring signal flow
The outputs of the two PT1 timing elements show the current utilization of power section and the
entire device.
Gain factors and filter time constants are defined such that within a certain cycle time a specific
overload current can be active for a certain period with subsequent recovery phase (75 % rated
current).
The following load change cycles are defined for the i700 servo inverter:
• 15-second cycle:
200 % rated current for 3 s, recovery phase 12 s with 75 % rated current
• 24-second cycle:
• 3-minute cycle:
________________________________________________________________
1. Load cycle
15-second cycle with a 200 %/3 s overload phase and a 75 %/12 s recovery phase.
PT1 with 3.3 s filter time constant for power section protection PT1 with 60 s filter time constant for device protection
2. Load cycle
24-second cycle with a 175 %/6 s overload phase and a 75 %/18 s recovery phase.
3. Load cycle
3 minute cycle with a 150 %/60 s overload phase and a 75 %/120 s recovery phase.
________________________________________________________________
 Note!
Though continuous operation over 100 % is allowed for by the Ixt monitoring function,
this is nevertheless an impermissible working point!
Parameterisation and evaluation of the monitoring function

The Ixt monitoring function can be parameterised and evaluated via the following indices. Here, a
warning limit and an error limit can be set for each PT1 timing element.
• If the warning threshold (Lenze setting: 95 %) is exceeded, a warning is output in order that the
master is still able to respond if required.
• If the error threshold is exceeded (Lenze setting: 101 %), the servo inverter is switched off for
protecting the device and generates an error message.
0x2D40 | 0x3540 - Ixt utilisation

1 Power section utilisation (Ixt): Actual 0% UNSIGNED_16
utilisation
2 Power stage utilisation (Ixt): Warning 95 % UNSIGNED_16
threshold
3 Power stage utilisation (Ixt): Error threshold 101 % UNSIGNED_16
4 Device utilisation (Ixt): Actual utilisation 0% UNSIGNED_16
5 Device utilisation (Ixt): Warning threshold 95 % UNSIGNED_16
6 Device utilisation (Ixt): Error threshold 101 % UNSIGNED_16
Subindex 1: Power stage utilisation (Ixt): Actual utilisation

0 % 101 0 %
Subindex 2: Power stage utilisation (Ixt): Warning threshold

0 % 101 95 %
Subindex 3: Power stage utilisation (Ixt): Error threshold

0 % 101 101 %
Subindex 4: Device utilisation (Ixt): Actual utilisation

0 % 101 0 %
8.3 Monitoring of the heatsink temperature
________________________________________________________________
Subindex 5: Device utilisation (Ixt): Warning threshold

0 % 101 95 %
Subindex 6: Device utilisation (Ixt): Error threshold

0 % 101 101 %
In order to avoid impermissible heating of the device, the heatsink temperature is detected and
monitored.
 Note!
In the temperature range 0 ... 80 °C, the heatsink temperature is measured with a
tolerance of -2 ... +4 °C. Outside this temperature range, the measuring accuracy
strongly decreases.
0x2D84 | 0x3584 - Heatsink temperature

1 Heatsink temperature: Actual temperature INTEGER_16
2 Heatsink temperature: Warning threshold 80.0 °C INTEGER_16
3 Heatsink temperature: Threshold - switch-on 55.0 °C INTEGER_16
fan
4 Heatsink temperature: Threshold - switch-off 45.0 °C INTEGER_16
fan
Subindex 1: Heatsink temperature: Actual temperature

Display of the current heatsink temperature
-3276.8 °C 3276.7
 Write access  CINH  OSC  P  RX  TX Scaling: 1/10 INTEGER_16
Subindex 2: Heatsink temperature: Warning threshold

Warning threshold for temperature monitoring
• If the heatsink temperature exceeds the threshold value set here, the device reports a warning. The warning
message is reset with a hysteresis of approx. 5 °C.
• If the heatsink temperature increases further and exceeds the non-adjustable error threshold (100 °C), the
device changes to the "Fault" device status. Further operation of the i700 servo inverter is disabled by controller
inhibit.
50.0 °C 100.0 80.0 °C
________________________________________________________________
Subindex 3: Heatsink temperature: Threshold for fan switch-on

Switch-on threshold for device fans
• If the heatsink temperature exceeds the threshold value set here, the device fan is switched on. This also
happens if the switch-off threshold is parameterised higher than the switch-on threshold by mistake.
• In order to activate the fan, the switch-on and switch-off threshold can be set to the maximum value as then the
device simultaneously switches to the "Fault" status.
• Bigger designs of the Servo-Inverter i700 are provided with an internal fan. This is triggered at the same time as
the heatsink fan and does not have internal switch-on or switch-off thresholds.
Note!
Increasing the switch-on threshold can cause higher device temperatures. This may reduce the service life of the
device!
0.0 °C 100.0 55.0 °C
Subindex 4: Heatsink temperature: Threshold for fan switch-off

Switch-off threshold for device fans
• If the heatsink temperature falls below the threshold value set here, the device fan is switched off. This only
happens if the switch-off threshold is parameterised lower than the switch-on threshold.
• Bigger designs of the Servo-Inverter i700 are provided with an internal fan. This is triggered at the same time as
the heatsink fan and does not have internal switch-on or switch-off thresholds.
0.0 °C 100.0 45.0 °C
8.4 Monitoring of the motor utilisation (I²xt)
________________________________________________________________
This monitoring detects the thermal utilisation of the motor by calculating the thermal motor
utilisation from the detected motor currents based on a mathematical model and displaying it in
the object 0x2D4F (or 0x354F for axis B).
In case of permanent overload and excess of the warning threshold set in the object 0x2D4E (or
0x354E for axis B), a warning is output in order that the higher-level Controller is still able to
respond and reduce the motor load or interrupt the operation.
From version 01.04 on, an error response in the object 0x2D50:1 (or 0x3550:1 for axis B) can be
parameterised as well if the disconnection should not or cannot be executed by a higher-level
Controller.
 Stop!
Monitoring the motor utilisation (I²xt) is not a means for full motor protection!
Since the motor utilisation calculated in the thermal model gets lost after mains
switching, the following operating states cannot be determined correctly:
• Restarting (after mains switching) of a motor that is already very hot.
• Change of the cooling conditions (e.g. cooling air flow interrupted or too warm).
Full motor protection requires additional measures such as the evaluation of
temperature sensors that are located directly in the winding or the use of thermal
contacts.
During the calculation, the speed dependence of the permissible motor load and thus of the
permissible current (difference between the standstill current and rated current is taken into
consideration. This is done via object 0x2D4D (or 0x354D for axis B).
The threshold value for the warning output can be adapted via the following object:
0x2D4E | 0x354E - Motor utilisation (I²xt): Motor overload warning threshold

0 % 250 100 %
The current thermal motor utilisation is shown in the following object:
0x2D4F | 0x354F - Motor utilisation (I²xt): Actual utilisation

0 % 250
0x2D50 | 0x3550 - motor utilisation (I²xt): Motor overload error
From version 01.04 onwards

If the disconnection must not or cannot be executed by a higher-level Controller, the operation can be interrupted
by the following parameter setting:
• As a response to the excess of the adjustable error threshold, set "1: Fault" in subindex 1.
• In subindex 2, set the threshold value as error threshold which in case of being exceeded triggers an interruption
of the operation.
________________________________________________________________

1 Motor utilisation (I²xt): Response 0: No Response UNSIGNED_8
2 Motor utilisation (I²xt): Error threshold 105 % UNSIGNED_16
Subindex 1: Motor utilisation (I²xt): Response

0 No response
1 Fault
Subindex 2: Motor utilisation (I²xt): Error threshold

0 % 250 105 %
The introduction of a two-component model with two time constants (one for the winding and the
housing/laminated core, respectively) serves to display the thermal behaviour of the motors up to
500% of the rated current.
Structure of the monitoring
2
Iact motor 1
Iperm motor (n)
k1
(1 + pt1)

1
(1 + pt2)
k2
 Thermal utilisation of the motor in [%]

- - Iact motor Actual motor current A

- - Iperm motor Permissible motor current (speed-dependent) A
0x2D4C:1 0x354C:1 τ1 Therm. time constant coil s
0x2D4C:2 0x354C:2 τ2 Therm. time constant of the laminated core s
0x2D4C:3 0x354C:3 k1 Percentage of the winding in the final temperature %
- - k2 Percentage of the laminated core in the final temperature: %
k2 = 100 % - k1
0x2D4C | 0x354C - Motor utilisation (I²xt): Parameter for the thermal model

1 Motor utilisation (I²xt): Thermal time constant 60 s UNSIGNED_16
- winding
2 Motor utilisation (I²xt): Thermal time constant 852 s UNSIGNED_16
- laminations
3 Motor utilisation (I²xt): Influence of the 27 % UNSIGNED_8
winding
4 Motor utilisation (I²xt): Starting value 0% UNSIGNED_16
________________________________________________________________
Subindex 1: Motor utilisation (I²xt): Thermal time constant of the winding

1 s 36000 60 s
Subindex 2: Motor utilisation (I²xt): Thermal time constant - laminated core

1 s 36000 852 s
Subindex 3: Motor utilisation (I²xt): Influence of the winding

0 % 100 27 %
Subindex 4: Motor utilisation (I²xt): Starting value

0 % 250 0 %
Calculation with only one time constant

If k1 = "0 %" is set, the part of the winding is not taken into consideration and the thermal model is
only calculated using the time constant set for the housing/laminated core. This setting is e.g.
required if only the time constant of the laminated core (T2) is known.
________________________________________________________________
Parameter setting of the time constant and the influence of the winding on motors of other
manufacturers
When the influence of the winding is activated, the i²xt monitoring becomes more sensible as if only
the influence of the laminated core would be used for monitoring purposes.
The necessity to activate the influence of the winding rises with the increasing utilisation of the
motor overload capacity. It also rises with applications where the motor is at standstill for longer
periods or cyclically and a load ≥ permanent standstill current is applied.
For determining the values for the thermal time constant, try to get the data from the motor
manufacturer. If this is not possible, you can use the data of a comparable Lenze motor.
Conditions for comparability are similar values in case of the following motor features:
• Square dimensions of the motor (active part)
• Length of the active part (if available)
• Permanent standstill current Io [A_RMS]
• Peak current/overload capacity [A_RMS]
• Copper resistance of the winding at 20 °C [Rphase]
Example:
Motor features Data of the third-party Data of a comparable Lenze motor (from motor
motor catalogue)
Square dimension 95 mm MCS09xxx = 89 mm
Standstill current 2.2 A MCS09F38 = 3.0 A
Peak current 7.3 A MCS09F38 = 15 A
Phase resistance 5.1 Ohm MCS09F38 = 5.2 Ohm
When the "MCS09F38" Lenze motor is selected from the motor catalogue of the »PLC Designer«m
the following values are displayed:
• Thermal time constant of the winding = 126 s  0x2D4C:1 (or 0x354C:1 for axis B)
• Influence of the winding = 27 %  0x2D4C:3 (or 0x354C:3 for axis B)
Speed-dependent evaluation of the motor current

By selecting a characteristic, the permissible motor current is evaluated depending on speed for
calculating the thermal motor utilisation. For this purpose, up to four operating points on the S1
characteristic of a motor can be used.
• The S1 characteristic can be found in the technical data sheet/catalogue of the respective
motor.
• The representation in the objects /characteristic is carried out as relative values with reference
to rated values.
 Note!
When you select a Lenze motor from the catalogue and transfer its parameters to the
servo inverter, a typical characteristic is automatically set for the motor selected. A
deviating parameterisation is only required if the motor is actuated in ambient
conditions demanding a general derating. Example: Use in site altitudes > 1000 m.
In case of motors of other manufacturers, the operating points have to be parameterised
based on the data sheet information.
________________________________________________________________
Operating points
 Standstill n01-I01 For motors, this operating point is often described with
the no-Io values.
 Reference point n02-I02 If the value falls below the speed n02, a derating in the
current is required because:
• the motor cooling of self-ventilated motors
deteriorates considerably.
• a DC current load causes an increased power loss in a
winding.
For motors, this operating point is also described with
the no*-Io* values.
 Rated point (n03=nrated)-(I03=Irated) Rated values of the motor are the reference for all
operating points of the i²xt monitoring.
 Field weakening n04-I04 This operating point should be parameterised
independently of the use in the current application.
0x2D4D | 0x354D - Motor utilisation (I²xt): User-definable characteristic

1 I²xt: x1 = n01/nN (n01 ~ 0) 0% UNSIGNED_16
2 I²xt: y1 = i01/iN (x = n01 ~ 0) 100 % UNSIGNED_16
3 I²xt: x2 = n02/nN (n02 = limit - reduced cooling) 0 % UNSIGNED_16
4 I²xt: y2 = i02/iN (x = n02 = limit - reduced 100 % UNSIGNED_16
cooling)
5 I²xt: x3 = n03/nN (n03 = rated speed) 100 % UNSIGNED_16
6 I²xt: y3 = i03/iN (x = n03 = rated speed) 100 % UNSIGNED_16
7 I²xt: x4 = n04/nN (n04 = limit - field weakening) 100 % UNSIGNED_16
8 I²xt: y4 = i04/iN (x = n04 = limit - field 100 % UNSIGNED_16
weakening)
An example of how to enter the characteristic can be found in the following subchapter.
________________________________________________________________
8.4.1 Example of how to enter the characteristic for standard and servo motors
The required data of the operating points result from the S1 characteristic of the prevailing motor:
Examples for S1 characteristics

Standard motor
* Standard motor forced ventilated
I/In * 100 % ** Standard motor self-ventilated
160
140
120
100
*
80
60 **

40
20
0
0 20 40 60 80 100 120 140 160
n/nn * 100 %
Servo motor Servo motor with derating at standstill
I/In * 100 % I/In * 100 %

160 160
140 140
120
120
100
100

80 80
60 60

40 40
20 20
0 0
0 20 40 60 80 100 120 140 160 0 20 40 60 80 100 120 140 160
n/nn * 100 % n/nn * 100 %
Object Characteristic point Info

Axis A Axis B
0x2D4D:1 0x354D:1  n1/nn * 100 % Speed = "0" (standstill)

0x2D4D:2 0x354D:2 I1/In * 100 % Permissible motor current at standstill
0x2D4D:3 0x354D:3  n2/nn * 100 % Speed from which the current must be reduced for self-ventilated
motors.
• Below this speed the cooling air flow of the integral fan is not
sufficient anymore.
0x2D4D:4 0x354D:4 I2/In * 100 % Permissible motor current at speed n2 (torque reduction)
0x2D4D:5 0x354D:5  n3/nn * 100 % Rated speed
0x2D4D:6 0x354D:6 I3/In * 100 % Permissible motor current at rated speed
0x2D4D:7 0x354D:7  n4/nn * 100 % Speed above the rated speed (in the field weakening range for
asynchronous motors)
0x2D4D:8 0x354D:8 I4/In * 100 % Permissible motor current at speed n4 (field weakening)
________________________________________________________________
The speed-dependent evaluation of the permissible motor current can actually be switched off by
parameterising all 8 characteristic points to "100 %".
 Stop!
Applications with standard motors
Self-ventilated standard motors are insufficiently protected at low speeds if the speed-
dependent evaluation of the permissible motor current is not effective (all characteristic
points = "100 %").
Applications with PM synchronous motors
Please check for every individual case which r.m.s. value can be used to permanently
operate the motor at standstill.
In case of some motors, a derating I1/In < 100 % is required when n1/nn = 0 %. This
serves to prevent an overload of individual motor phases as their power loss doubles
with continuous DC current load. (It is called DC current load as the field frequency
amounts to 0 Hz at standstill.)
________________________________________________________________
8.4.2 UL 508-compliant I²xt motor overload monitoring
If the compliance with the UL 508 standard is required for the operation of the motor and the UL
508 compliant motor load monitoring is implemented by the mathematical model of the I²xt
monitoring, the following conditions have to be met.
 Note!
The settings described have been taken from the current UL 508 standard.
The i700 servo inverter only outputs one warning if the warning limit has been exceeded
(0x2D4E or 0x354E for axis B). The i700 servo inverter cannot interrupt the operation of
the motor. The motor load has to be interrupted by a higher-level Controller.
 Stop!
From version 01.04 onwards:
If the disconnection must not or cannot be executed by a higher-level Controller, the
operation has to be interrupted by the following parameter setting:
1. Set the response "1: Fault" to the excess of the adjustable error threshold in the object
0x2D50:1 (or 0x3550:1 for axis B).
2. Set the threshold value as error threshold which in case of being exceeded triggers an
interruption of the operation in the object 0x2D50:2 (or 0x3550:2 for axis B).
UL 508 condition 1:
With a motor load of 600 %, the I²xt warning has to be output within 20 seconds.
• A motor load of 600 % occurs if the r.m.s. value of the total motor current displayed in the object
0x2DD1:5 (or 0x35D1:5 for axis B) corresponds to 6 times the rated motor current (0x6075 or
0x6875 for axis B).
This condition can be met by the following parameter setting:
Object Name Setting

Axis A Axis B
0x2D4C:2 0x354C:2 Motor utilisation (I²xt): Thermal time constant - laminations ≤ 709 s
0x2D4C:3 0x354C:3 Motor utilisation (I²xt): Influence of the winding 0%
0x2D4E 0x354E Motor utilisation (I²xt): Motor overload warning threshold 100 %
From version 01.04 onwards:
0x2D50:1 0x3550:1 Motor utilisation (I²xt): Response 1: Fault
0x2D50:2 0x3550:2 Motor utilisation (I²xt): Error threshold 100 %
________________________________________________________________
UL 508 condition 2:
With a motor load of 110 % and a motor rotating field frequency of 10 Hz, the I²xt warning has to
be output faster than with a motor rotating field frequency of 20 Hz.
• The current motor rotating field frequency is displayed in the object 0x2DDD (or 0x35DD for
axis B).
• A motor load of 110 % occurs if the r.m.s. value of the total motor current displayed in the object
0x2DD1:5 (or 0x35D1:5 for axis B) corresponds to 1.1 times the rated motor current (0x6075 or
0x6875 for axis B).
Object Name Setting

Axis A Axis B
0x2D4D:1 0x354D:1 I²xt: x1 = n01/nN (n01 ~ 0) 0%

0x2D4D:2 0x354D:2 I²xt: y1 = i01/iN (x = n01 ~ 0) < 100 %
0x2D4D:3 0x354D:3 I²xt: x2 = n02/nN (n02 = limit - reduced cooling)
Setting: 100 % * 20 Hz / rated motor frequency 0x2C01:5 or 0x3401:5)
0x2D4D:4 0x354D:4 I²xt: y2 = i02/iN (x = n02 = limit - reduced cooling) ≥ 100 %
UL 508 condition 3:
After mains switching and a motor load > 100 %, the I²xt warning has to be output faster than in the
same load case before mains switching.
• A motor load of > 100 % occurs if the r.m.s. value of the total motor current displayed in the
object 0x2DD1:5 (or 0x35D1:5 for axis B) is higher than the rated motor current (0x6075 or
0x6875 for axis B).
Object Name Setting

Axis A Axis B
0x2D4C:4 0x354C:4 Motor utilisation (I²xt): Starting value >0%
8.5 Motor temperature monitoring
________________________________________________________________
0x2D49 | 0x3549 - Motor temperature monitoring: Parameters

1 Motor temperature monitoring: Sensor type 0: KTY83-110 UNSIGNED_8
2 Motor temperature monitoring: Response 1: Trouble UNSIGNED_8
3 Motor temperature monitoring: Warning 145.0 °C INTEGER_16
threshold
4 Motor temperature monitoring: Error 155.0 °C INTEGER_16
threshold
5 Motor temperature monitoring: Actual motor INTEGER_16
temperature
6 Thermal sensor characteristic: Grid point 1 - 25.0 °C INTEGER_16
temperature
7 Thermal sensor characteristic: Grid point 2 - 150.0 °C INTEGER_16
temperature
8 Spec. charact.: resistance sampling point 1 1000 Ohm INTEGER_16
9 Spec. charact.: resistance sampling point 2 2225 Ohm INTEGER_16
Subindex 1: Motor temperature monitoring: Sensor type

Selection of the motor temperature sensor used
0 KTY83-110
1 KTY83-110 + 2 x PTC 150 °C (series connection)
2 KTY84-130
3 Spec. charact. curve From version 01.03
Spec. charact. curve for motor temperature sensor
Subindex 2: Motor temperature monitoring: Response

Response when tripping the motor temperature monitoring
• In order to exclude an unwanted tripping of the fault during initial commissioning without connected motor, the
error response is a warning as long as the device is in the "switch-on inhibited" status. If this status is left, the
error response parameterised here is triggered.
0 No response
1 Fault
Subindex 3: Motor temperature monitoring: Warning threshold

Warning threshold for motor temperature monitoring
• Reset is effected with a hysteresis of 5 °C.
-3276.8 °C 3276.7 145.0 °C
Subindex 4: Motor temperature monitoring: Error threshold

Error threshold for motor temperature monitoring
• Reset is effected with a hysteresis of 5 °C.
________________________________________________________________
Subindex 4: Motor temperature monitoring: Error threshold

-3276.8 °C 3276.7 155.0 °C
Subindex 5: Motor temperature monitoring: Actual motor temperature

Display of the current motor temperature
-666.0 °C 666.0
Subindex 6: Spec. charact.: temperature sampling point 1

From version 01.03
The special thermal sensor characteristic is selected by setting "3" in 0x2D49:1 (or 0x3549:1 for axis B)
0.0 °C 255.0 25.0 °C
Subindex 7: Spec. charact.: temperature sampling point 2

From version 01.03
0.0 °C 255.0 150.0 °C
Subindex 8: Spec. charact.: resistance sampling point 1

From version 01.03
0 Ohm 30000 1000 Ohm
Subindex 9: Spec. charact.: resistance sampling point 2

From version 01.03
0 Ohm 30000 2225 Ohm
________________________________________________________________
8.5.1 Spec. charact. curve for motor temperature sensor
If required, you can define and activate a special characteristic for the motor temperature sensor.
 Stop!
The implemented solution is not suitable as a replacement for a tripping unit for the
thermal protection of rotating electrical machines (EN 60947-8:2003)!
• The special characteristic is activated by setting 0x2D49:1 = "3" (or 0x3549:1 = "3" for axis B).
• The special characteristic is defined based on two parameterisable sampling points. The two
sampling points define a line which is extrapolated to the right and to the left. In the Lenze
setting, the special characteristic is defined as follows:
Lenze setting of the special characteristic
W

2225

1000
0
0 25 150 °C
Axis A Axis B Description Lenze setting
0x2D49:6 0x3549:6 Sampling point  - Temperature 25.0 °C

0x2D49:8 0x3549:8 Sampling point  - resistance 1000 Ohm
0x2D49:7 0x3549:7 Sampling point  - Temperature 150.0 °C
0x2D49:9 0x3549:9 Sampling point  - resistance 2225 Ohms
 Note!
• Selecting a motor from the motor catalogue causes the parameters of the special
characteristic to be overwritten!
• If the servo inverter measures a resistance of below 122 Ω, this is assessed as a sensor
error and a temperature of -666 °C is output.
• In individual cases, a short circuit is a wanted status (e.g. temperature contact, closed
below 140 °C). For this purpose, the sampling point 1 (0x2D49:8 or 0x3549:8 for axis
B) must be below 122 Ω to not trigger a sensor error anymore. The temperature is
continued to be calculated.
8.6 Motor speed monitoring
________________________________________________________________
8.6 Motor speed monitoring
0x2D44 | 0x3544 - Motor speed monitoring

1 Motor speed monitoring: Threshold 8000 r/min UNSIGNED_16
2 Motor speed monitoring: Response 1: Trouble UNSIGNED_8
Subindex 1: Motor speed monitoring: Threshold

Warning/error threshold for motor speed monitoring
50 r/min 50000 8000 r/min
Subindex 2: Motor speed monitoring: Response

Response when tripping the motor speed monitoring
0 No response
1 Fault
2 Warning
8.7 Motor phase failure monitoring
________________________________________________________________
 Note!
In the Lenze setting, the monitoring function is not activated!
0x2D45 | 0x3545 - Motor phase failure detection

1 Motor phase failure 1: Response 0: No Response UNSIGNED_8
2 Motor phase failure 1: Current threshold 5.0 % UNSIGNED_8
3 Motor phase failure 1: Voltage threshold 10.0 V UNSIGNED_16
4 Motor phase failure 2: Response 0: No Response UNSIGNED_8
Subindex 1: Motor phase failure 1: Response

Monitoring 1 (during operation): Response during tripping
0 No response
1 Fault
2 Warning
Subindex 2: Motor phase failure 1: Current threshold

Monitoring 1 (during operation): Selection of the current threshold for activation
• 100 % ≡ maximum axis current (0x2DDF:2 or 0x35DF:2 for axis B)
• Background: In order to be able to reliably detect the failure of a motor phase, a certain motor current for the
current sensors must flow first. The monitoring function therefore is only activated if, in the case of a servo
control, the setpoint of the motor current, and in the case of a V/f characteristic control, the actual value of the
motor current (display in 0x6078 or 0x6878 for axis B) has exceeded the current threshold set here.
1.0 % 10.0 5.0 %
Subindex 3: Motor phase failure 1: Voltage threshold

Monitoring 1 (during operation): Selection of the voltage threshold for monitoring several motor phases
• The V/f characteristic control enables the detection of several failed motor phases during operation.
• Monitoring with regard to a failure of several motor phases is active if
• a response other than "0: No response" is set in subindex 1, and
• the motor voltage exceeds the voltage threshold set here.
• The "Motor disconnected" error message is output if the motor current is lower than the device-dependent
threshold value for more than 20 ms.
• The monitoring function for the failure of several motor phases can be deactivated if the value "1000.0 V" is set
here.
0.0 V 100.0 10.0 V
________________________________________________________________
Subindex 4: Motor phase failure 2: Response

Monitoring 2 (prior to operation): Response during activation
0 No response
1 Fault
2 Warning
8.7.1 Limits of the motor phase failure monitoring
The motor phase failure monitoring can be activated for both synchronous and asynchronous
motors. However, it is possible that a current flow cannot be detected for sure in the case of certain
operating states of synchronous motors that are connected correctly. Hence, a fault is triggered. The
following table provides an overview:
Operating status Synchronous motor Async. motor

Check of the motor phases prior to operation  
Check of the motor phases during operation
Iq < current threshold value at standstill  
when motor is rotating  
Iq ≥ current threshold value at standstill  
when motor is rotating  
Field weakening when motor is rotating  
 Phase failure is detected for sure

 The monitoring function may be activated without a fault pending.
Iq Torque-forming current component
 Note!
Monitoring during operation serves especially for applications which are operated with
constant load and speed. In all other cases, transient processes or unfavourable
operating points can cause maloperation.
Special case: Operation in generator mode (e.g. hoist)

The motor phase failure monitoring may trigger a fault message in an operation in generator mode
if the asynchronous motor applied for this purpose reaches the following working point:
• The hoist moves downwards, i.e. the motor is in generator mode.
• The slip frequency equals the field frequency in terms of amount. Both frequencies mutually
neutralise themselves due to their opposite effective directions.
________________________________________________________________
8.7.2 Monitoring 2: In the "enable operation" state transition
On the basis of test signals, this extended monitoring function for motor phase failure can detect a
phase failure and check the presence of the motor. Only after a successful check, the actual
operation is continued.
• Monitoring is only active for a short time after controller enable (when the device status
changes from "Switched on" to "Operation enabled") if
• a response other than "0: No response" has been set for this monitoring function in object
0x2D45:4 (or 0x3545:4 for axis B), and
• no test mode and no identification mode (0x2825 or 0x3025 for axis B) are active.
• Before the actual operation, the motor is supplied with a maximum DC current, the max. level
of which corresponds to the lower of the following two values:
50 % ⋅ 2 ⋅ Rated device current

or
50 % ⋅ 2 ⋅ Rated motor current
• The response set is triggered if one or several motor phase currents have not reached a specific
threshold value within 5 ms after controller enable. The threshold value depends on the
maximum device current and cannot be parameterised.
• The check is completed successfully if all three motor phase currents have exceeded the
threshold value. Then the actual operation is continued immediately.
 Note!
• As the check is cancelled immediately if all three motor phase currents have exceeded
the threshold value, the setpoint current usually is not achieved.
• In order to be able to achieve the threshold value used for the check, the rated motor
current must at least be 10 % of the maximum device current.
8.7.3 Monitoring 1: In "operation enabled" status
If a current-carrying motor phase (U, V, W) fails during operation, the response set for this
monitoring is tripped if two conditions are met:
• Condition 1: Monitoring is activated
• In order to be able to reliably detect the failure of a motor phase, a certain motor current for
the current sensors must flow. The monitoring function therefore is only activated if, in the
case of servo control, the setpoint of the motor current, and in the case of a V/f characteristic
control, the actual value of the motor current (display in 0x6078 or 0x6878 for axis B) has
exceeded a parameterisable current threshold (0x2D45:2 or 0x3545:2 for axis B).
• Condition 2: A specific commutation angle has been covered without the detection of a current
flow.
• In this case monitoring works according to the principle of checking for each motor phase
that a current flows depending on the commutation angle.
• Monitoring responds if a rotating field is output and hence a specific commutation angle
(approx. 150°, electric) is covered without the current having exceeded a (non-
parameterisable) threshold that depends on the device power.
________________________________________________________________
 Note!
The dependence on the commutation angle also causes a dependence on the motor type
used:
• The commutation angle and the angle at the shaft (number of pole pairs) of a
synchronous motor are proportional. This makes it possible to predict which shaft
angle is maximally covered in the event of an error.
• There is still a slip between the commutation angle and the angle at the shaft of an
asynchronous motor. This results in a load dependency which makes it impossible to
predict a maximally covered shaft angle in the event of an error.
For some applications (e.g. when a hoist is lowered at non-zero speed) it may happen
that there is no rotating field anymore, but a DC current is flowing. In this case, condition
2 is no longer met.
8.7.4 Monitoring with regard to short circuit and earth fault
The motor phases are monitored with regard to short circuit and earth fault by means of a hardware
circuit. If this monitoring function is activated, the i700 servo inverter reports an error and changes
to the "Pulse inhibit" error status. This error can only be reset after an inhibit time of 5 s has elapsed.
The following table lists possible causes of a short-circuit message:
Cause Remedies
The is a physical connection between two motor phases. Correct the wiring and remove the short circuit.
A transient current control process causes the phase Remedy for a):
currents to increase above the signalling threshold. This Set current controller according to alignment
can happen if it is operated at the current limit of the instructions.
device and Setting and optimising the current controller
a) the current controller is set incorrectly or Remedy for b):
b) a synchronous motor is operated in the field If a synchronous motor is operated at the limits or within
weakening range and the current controller feedforward the field weakening range, activate the current
control in 0x2941 (or 0x3141 for axis B) has been controller feedforward control in 0x2941 (or 0x3141 for
deactivated. axis B).
A transient current control process can be triggered, for
instance, if an EtherCAT fault causes a quick stop. In such
a situation, normally some bus cycles pass by until the
error is triggered. During this period, the setpoints
remain frozen which causes an unsteady setpoint profile
and thus a dominant current control process.
8.8 Monitoring of the ultimate motor current
________________________________________________________________
8.8 Monitoring of the ultimate motor current
 Stop!
The parameterisable ultimate motor current IULT is a limit value the exceedance of which
causes non-reversible damages of the motor!
Examples:
• Demagnetisation of single rotor magnets when the PM servo motor is operated.
• Destruction of the stator winding.
This limit value must not be travelled cyclically in the drive process!
The maximum current (0x6073 or 0x6873 for axis B) parameterised should provide a
sufficient distance to this ultimate motor current.
 Note!
When you select a Lenze motor from the catalogue and transfer the parameters of the
motor to the servo inverter, the setting of the IULT limit value is automatically adapted
to the motor selected.
In case of motors of other manufacturers, we recommend the parameterisation of the
limit value IULT in 0x2D46:1 (or 0x3546:1 for axis B) to be executed as one of the first
commissioning steps.
If the instantaneous value of the motor current exceeds the limit value set, the response
set for this monitoring function is triggered in order to protect the motor.
0x2D46 | 0x3546 - Monitoring: Ultimate motor current

1 Ultimate motor current: Threshold 5.4 A UNSIGNED_16
2 Ultimate motor current: Response 1: Trouble UNSIGNED_8
Subindex 1: Ultimate motor current: Threshold

Warning/error threshold for motor current monitoring
0.0 A 500.0 5.4 A
Subindex 2: Ultimate motor current: Response

Response when tripping the motor current monitoring
0 No response
1 Fault
2 Warning
8.9 Monitoring of the position and velocity error
________________________________________________________________
0x2D51 - monitoring: Position and velocity error

1 Monitoring: Velocity error - error threshold 50 rpm UNSIGNED_32
2 Monitoring: Velocity error - minimum error 0 ms UNSIGNED_16
time
3 Monitoring: Velocity error - response 0: No response % UNSIGNED_8
4 Monitoring: Position error - error threshold 360 ° UNSIGNED_32
5 Monitoring: Position error - minimum error 0 ms UNSIGNED_16
time
6 Monitoring: Position error - response 0: No response % UNSIGNED_8
Subindex 1: Monitoring: Velocity error - error threshold

1 r/min 2147483647 50 rpm
Subindex 2: Monitoring: Velocity error - minimum error time

0 ms 50 0 ms
Subindex 3: Monitoring: Velocity error - response

0 No response %
1 Fault %
2 Warning %
Subindex 4: Monitoring: Position error - error threshold

1 ° 2147483647 360 °
Subindex 5: Monitoring: Position error - minimum error time

0 ms 50 0 ms
Subindex 6: Monitoring: Position error - response

0 No response %
1 Fault %
2 Warning %
________________________________________________________________
Both monitoring modes can be switched off via the PDO if, for instance, in case of homing,
positioning is to be carried out against a mechanical limit stop.
8.9.1 Monitoring of the position error
For the following control modes, the monitoring function of the position error can be used in
combination with the CiA402 operating mode "csp":
• V/f characteristic control for asynchronous motor (ASM)
The following error monitoring is effective for an operating mode with position controller. At the
input of the position controller (see red arrow in the figure below), the system deviation (i.e. the
following error) is compared to the following error tolerance that has been set.

Modes of operation Modes of operation display Speed ctrl.: Load I component
Interpolation
Target position
Iq
Id M
Encoder
evaluation
The error response set in the 0x2D51:6 object (or 0x3551:6 for axis B) is executed if
1. the set following error tolerance (0x2D51:4 / 0x3551:4) has been exceeded and
2. the duration of the exceedance is pending uninterruptedly as long as set in the 0x2D51:5 /
0x3551:5 object.
Additional following error monitoring mode in the Controller

In compliance with the CiA 402 manufacturer spanning device profile, the following error in the
higher-level Controller is monitored in addition to the following error monitoring in the servo
inverter. The following error monitoring in the Controller uses its own objects.
________________________________________________________________
8.9.2 Monitoring of the speed deviation
Monitoring of the speed deviation can only be used in the following control modes:
Monitoring of the speed deviation is effective in the operating modes with contained speed
controller. It monitors the system deviation at the input of the speed controller (see blue arrow):

Modes of operation Modes of operation display Speed ctrl.: Load I component
Interpolation
Target position
Iq
Id M
Encoder
evaluation
The error response set in the object 0x2D51:3 (or 0x3551:3 for axis B) is executed if
1. the set tolerance of the speed deviation (0x2D51:1 / 0x3551:1) has been exceeded and
2. the duration of the exceedance is pending uninterruptedly as long as set in the 0x2D51:2 /
0x3551:2 object.
9 Diagnostics & error management
________________________________________________________________

This chapter contains information on the drive diagnostics, error handling, and fault analysis.

Axis A Axis B
Identification data
0x1000 Device: Type UNSIGNED_32
0x1001 Error memory UNSIGNED_8
0x1008 ECAT: Manufacturer device name STRING(50)
0x1009 Device: Hardware version STRING(50)
0x100A Device: Software version STRING(50)
0x1018 ECAT: Identity object RECORD
Error management
0x10F3 Diagnostics: History buffer RECORD
0x2826 0x3026 Quick stop: Duration in case of trouble UNSIGNED_32
0x2840 0x3040 Delay time: Reset error INTEGER_32
0x2841 0x3041 Resetting an error UNSIGNED_8
0x284F 0x304F Current fault ARRAY [0..63] OF
BYTE
0x2860 0x3060 PRBS excitation UNSIGNED_16
0x605E 0x685E Setting/response in the event of an error INTEGER_16
Diagnostics parameters
0x10F8 ECAT DC: Current time UNSIGNED_64
0x2D81 0x3581 Counter: Operating time RECORD
0x2D82 0x3582 Motor: Actual voltage - Veff, phase-phase UNSIGNED_32
0x2D83 0x3583 Motor: Phase currents RECORD
0x2D8A 0x358A Speed monitoring: Actual speed error INTEGER_32
9.1 LED status displays
________________________________________________________________
9.1 LED status displays
The LED status displays on the front of the i700 servo inverter provide quick information on some
operating states.
• The two LEDs "RDY" and "ERR" serve to indicate the device status.
LED Status Meaning

RDY Off 24 V supply voltage missing
Single axis: Axis is inhibited
Double axis: Both axes are inhibited
Single axis: Axis is enabled
Double axis: One or both axes are enabled
ERR Off No error.
Single axis: Device error or axis error
Double axis: Device error or axis error in one axis or both axes
• Three green LEDs at the EtherCAT interfaces (RJ45 sockets X4 and X5) serve to indicate the
EtherCAT bus status and the connection status of the input and output socket. The arrangement
of the LEDs can be seen from the "Servo-Inverter i700" hardware manual.
LED Status Meaning

RUN Off EtherCAT status "Init"
EtherCAT state "Pre-Operational"
EtherCAT state "Safe-Operational"
EtherCAT state "Operational"
EtherCAT state "Bootstrap"
L/A Off No EtherCAT connection

EtherCAT communication active
EtherCAT connection available
9.2 Indication of fault and warning (error code)
________________________________________________________________
The indication of fault and warning is implemented according to CiA 301/402:

• In the error-free state, error code "0" is displayed.
• The fault/warning that has occurred first is always displayed.
• Faults overwrite warnings.
• In general, warnings do not lock up the system. If the cause of the warning disappears, the i700
servo inverter resets the warning display and bit 7 in the Statusword (0x6041 or 0x6841 for axis
B) after the PDO update has been carried out in the direction of control flow.
0x603F | 0x683F - Error code

0x0000 0xFFFF 0x0000
 Tip!
Chapter "CiA402 error codes / error messages" lists all possible error codes of the i700 servo
inverter including causes and possible remedies.
0x284F | 0x304F - Current fault
From version 01.06

Text display of the current error
• This object contains a reference to the text to be displayed from the ESI file as well as the replacement values for
all wildcards in this text.
• The text has the same structure as the diagnostics messages in the history buffer.
 Write access  CINH  OSC  P  RX  TX ARRAY [0..63] OF BYTE
 Document "ETG.1020 Protocol Enhancements"

See chapter 13.3 of document "ETG.1020 Protocol Enhancements" provided by the
EtherCAT Technology Group (ETG) for detailed information on the structure of the
diagnostic messages.
Further indications of faults and warnings

• In the Statusword (0x6041 or 0x6841 for axis B)
• a fault is indicated via bit 3,
• a warning is indicated via bit 7.
• Further diagnostics can be carried out with the history buffer (0x10F3). It contains the last 32
messages of the i700 servo inverter.
________________________________________________________________
9.2.1 Response of the device in the event of an error
There are two different interference classes in the i700 servo inverter:
Power on
Class I: Fatal errors
Evading the "Fault reaction active" device
Not ready to Fault reaction status, errors of class I immediately cause the
switch on active "Fault" device status.
The i700 servo inverter is switched off
immediately (pulse inhibit) so that a guided
standstill can only be realised by using a
Switch on
disabled
Fault
active
mechanical brake.
Ready to Quick stop

switch on active
Switched Operation
on enabled
Power on
Class II: Light errors
In case of errors of class II, the error response
Not ready to Fault reaction selected in the object 0x605E (or 0x685E for
switch on active axis B) takes place in the Fault reaction active.
This classification enables the i700 servo
inverter to actively support the machines to
reach standstill when the following light errors
Switch on
disabled
Fault
active
occur.
Ready to Quick stop

switch on active
Switched Operation
on enabled
Light errors of class II are:

Error code 0x4380: Motor temperature sensor
Error code 0x7303: Error in feedback system (from version 01.06)
Error code 0x7380: Hiperface communication error
Error code 0x8181: EtherCAT communication
Error code 0x8700: Sync controller
________________________________________________________________
0x605E | 0x685E - Response to error
From version 01.05

Selection of the response to errors of class II:
-2 = quick stop if possible, otherwise DC current or short-circuit braking.
0 = pulse inhibit
2 = quick stop
Further information on the respective response can be found in the "Info" column further down.

-32768 32767 -2
Setting/response in the event of an Info

error
-2 Quick stop if possible, In case of servo control, first quick stop is activated as error response. If an
otherwise DC current or short- encoder error is detected here, ASM servo control immediately switches to
circuit braking the "DC-injection braking" and SM servo control immediately switches to the
"short-circuit braking" function.
• This setting is reasonable for drives without service brake and with
limited travel way.
• The braking is maintained for the entire monitoring time (0x2826 or
0x3026 for axis B) since a standstill of the motor cannot be recognised
due to the missing feedback.
• Afterwards, the drive changes to the "Fault" device status and inhibits the
inverter. If a holding brake is parameterised and connected, it will be
applied.
• The braking current for DC-injection braking (ASM) has to be set in
0x2B80 (or 0x3380 for axis B).
Background: The servo control requires a feedback of position/speed signals
of the motor encoder. This basic condition also applies when the "quick stop"
function is activated. If the i700 servo inverter has no access to this
information anymore, it cannot realise a guided operation of the motor into
the drift-free standstill. When synchronous motors are operated, the i700
servo inverter loses the current pole position in addition, which can lead to a
non-guided behaviour.
2 Quick stop Quick stop is activated as error response.
• The deceleration for quick stop can be set in 0x6085 (or 0x6885 for axis B).
• After the deceleration has stopped or the monitoring time for quick stop
has elapsed (0x2826 or 0x3026 for axis B), the drive changes to the "Fault"
device status and inhibits the inverter. If a holding brake is parameterised
and connected, it will be applied.
0 Disable voltage Evading the "Fault reaction active" device status, it is immediately changed
to the "Fault" device status.
• The drive is immediately switched off (pulse inhibit).
• Thus the behaviour is identical to the behaviour in case of fatal errors
(class I).

Triggering the quick stop causes the drive to be stopped along the current
limit of 0x6073 / 0x6873. The torque limits from 0x60E0 / 0x68E0, 0x60E1 /
0x68E1 and 0x6072 / 0x6872 are not effective during the quick stop!
From version 1.7.0
During the quick stop, both the current limit 0x6073 and the torque limit
0x6072 are active. The smaller of the two limits determine the output motor
torque. The torque limits from 0x60E0 and 0x60E1 have no effect during the
quick stop.
________________________________________________________________
0x2826 | 0x3026 - Quick stop: Duration in the event of a fault
If, in the "Fault reaction active" device status, quick stop is not reached within the period set here, the drive changes
to the "Fault" device status.

0 s 100 4 s
9.2.2 Resetting the error/fault
• A fault can only be reset via bit 7 in the Controlword (0x6040 or 0x6840 for axis B).
• If there is another fault pending after resetting the fault, bit 3 in the status word remains set
and object 0x603F (or 0x683F for axis B) now shows the error code of this fault.
• Certain errors can only be reset by 24 V mains switching. These are, for instance, internal errors
due to internal communication faults, initialisation errors, and checksum errors of the firmware
or the persistent data (elapsed-hour meters and power-on hour meters, calibration values, etc.).
• Certain errors (e.g. earth fault or short circuit of the motor phases) can cause a delay time. In this
case, the fault can only be reset via bit 7 in the Controlword after the delay time has elapsed.
• Active delay times are displayed via bit 14 in the Lenze status word (0x2831 or 0x3031 for axis
B).
• The remaining delay time can be read out via the following object:
0x2840 | 0x3040 - Delay time: Reset error

-2147483648 ms 2147483647 0 ms
 Write access  CINH  OSC  P  RX  TX INTEGER_32
0x2841 | 0x3041 - Reset error

0 1 0
9.3 History buffer
________________________________________________________________
9.3 History buffer
Via the history buffer (0x10F3), the controller can access the last 32 messages of the i700 servo
inverter.
• The history buffer is saved persistently to the i700 servo inverter.
• The structure of the history buffer corresponds to a ring buffer:
• As long as there is free history buffer space available, a message is placed in the next free slot
in the buffer.
• If all buffer slots are full, the oldest message is deleted for a new one.
• The latest messages will always remain available.
• See the "Diag code" (32-bit word) of every single message to find out which axis the message
refers to:
Diag code bits 0 ... 15 Diag code bits 16 ... 31

0xE000  device error/warning CiA402 error code (device-specific)
0xE001  fault/warning axis A CiA402 error code (axis-specific)
0xE002  fault/warning axis B CiA402 error code (axis-specific)
CiA402 error codes / error messages ( 286)
 Document "ETG.1020 Protocol Enhancements"

See chapter 13.3 of document "ETG.1020 Protocol Enhancements" provided by the
EtherCAT Technology Group (ETG) for detailed information on the structure of the
diagnostic messages.
0x10F3 - Diagnostics: History buffer

1 Max. number of messages 32 UNSIGNED_8
2 Latest message 0 UNSIGNED_8
3 Latest acknowledged message 0 UNSIGNED_8
4 New active message 0 UNSIGNED_8
5 Control bits 0 UNSIGNED_16
Subindex 1: Max. number of messages

Maximum number of messages which can be stored in the history buffer (from subindex 6).
0 255 32
Subindex 2: Latest message

Subindex of the most recent message
0 255 0
9.3 History buffer
________________________________________________________________
Subindex 3: Latest acknowledged message

Subindex of the most recent message acknowledged by the EtherCAT master.
0 255 0
Subindex 4: New active message

TRUE if messages are pending that have not been acknowledged by the EtherCAT master yet.
0 255 0
Subindex 5: Control bits

Settings for the transmission and storage of the messages
0 65535 0
9.4 CiA402 error codes / error messages
________________________________________________________________
 Note!
• When an error message is output, the source (device, axis A or axis B) is preceded.
• This data [value] of an error message text serves as wildcard for the value detected
during the runtime of the i700 servo inverter.
• The indices for axis A and axis B are given directly in succession in the following
descriptions for a better readability (index of axis A | index of axis B)
Error code 0x0000: No error
Text ID: 0x00
Cause Remedies Response

- - -
Error code 0x2320: Short circuit or earth leakage on motor side
Text ID: 0x04

• Earth fault in motor cable. • Check motor cable. Fault
• Excessive capacitive charging • Use motor cable that is shorter or Note: Error reset only possible after
current in the motor cable. has a lower capacitance. 5 s.
Error code 0x2340: Short circuit on motor side
Text ID: 0x05

• Short circuit/earth fault in motor • Check motor cable. Fault
cable. • Use motor cable that is shorter or Note: Error reset only possible after
• Excessive capacitive charging has a lower capacitance. 5 s.
current in the motor cable.
Error code 0x2351: Motor utilisation (I²xt) > [value] %
Text ID: 0x38

Motor is thermally overloaded, e.g. • Check drive dimensioning. Warning
due to: • Check setting or the warning or • Warning threshold can be
• impermissible continuous error threshold. adapted in 0x2D4E | 0x354E.
current.
From version 01.05, an error
• Frequent or too long acceleration response can also be parameterised
processes. in 0x2D50:1 | 0x3550:1.
• Error threshold can be adapted in
0x2D50:2 | 0x3550:2.
Monitoring of the motor utilisation (I²xt)
________________________________________________________________
Error code 0x2380: Fault - utilisation of the power section (Ixt) too high
Text ID: 0x06

Frequent and too long acceleration Check drive dimensioning. Fault
processes with overcurrent.
Error code 0x2381: Warning - Utilisation of the power section (Ixt) too high
Text ID: 0x07

Frequent and too long acceleration Check drive dimensioning. Warning
Error code 0x2382: Fault - device utilisation (Ixt) too high
Text ID: 0x08

Frequent and too long acceleration Check drive dimensioning. Fault
Error code 0x2383: Warning - device utilisation (Ixt) too high
Text ID: 0x09

Frequent and too long acceleration Check drive dimensioning. Warning
Error code 0x2384: Ultimate motor current reached
Text ID: 0x22

The motor current has exceeded the Reduce maximum current Fault
"ultimate" motor current. (0x6073 | 0x6873) and/or adjust the (adjustable in 0x2D46:2 | 0x3546:2)
The "ultimate" motor current current controller (0x2942 | 0x3142) • Threshold can be adapted in
corresponds to the current level at in order to reduce the current 0x2D46:1 | 0x3546:1.
which the permanent magnets of a overshoot.
synchronous motor suffer
permanent damage.
Error code 0x2385: Output current > [value] A (maximum device current)
Text ID: 0x24

The desired maximum current The permissible maximum current Warning
(0x6073 | 0x6873) is higher than the (0x6073 | 0x6873) is:
maximum current of the axis (display Maximum axis current
in 0x2DDF:2 | 0x35DF:2). -----------------------------------------------------------
Rated motor current
• Setting of rated motor current in
0x6075 | 0x6875.
________________________________________________________________
Error code 0x2386: Clamp is active
Text ID: 0x2F

Maximum current of the axis (display • Select a flatter speed ramp. Warning
in 0x2DDF:2 | 0x35DF:2) has been • Reduce the load.
reached. • Set the Imax controller
(0x2B08 | 0x3308) more
dynamically.
Error code 0x2387: Clamp responded too often
Text ID: 0x30

Maximum current of the axis (display • Select a flatter speed ramp. Fault
in 0x2DDF:2 | 0x35DF:2) was • Reduce the load.
reached too often in a row. • Set the Imax controller
(0x2B08 | 0x3308) more
dynamically.
Error code 0x3210: DC link circuit - overvoltage [value] V
Text ID: 0x0A

Delay time: 5 ms

Due to a too high braking energy, the • Connect brake resistor to power Warning or fault
DC-bus voltage exceeds the supply module or use (depending on the height of the
overvoltage threshold which results regenerative module. voltage)
from the mains voltage setting. • Check mains setting. • Warning threshold adaptable in
• Check drive profile. 0x2540:5.
• Fixed error threshold.
Error code 0x3220: DC link circuit - undervoltage [value] V
Text ID: 0x0B

DC bus voltage is lower than the • Check mains voltage. Warning or fault
undervoltage threshold resulting • Check DC-bus voltage. (depending on the height of the
from the mains setting. • Check mains settings. voltage)
• Warning threshold adaptable in
0x2540:2.
• Fixed error threshold.
Error code 0x4210: Module temperature too high, [value]
Text ID: 0x0C

Heatsink temperature higher than • Check control cabinet Warning or fault
fixed temperature limit (100 °C): temperature. (depending on the height of the
• The ambient temperature of the • Clean filter. temperature)
servo inverter is too high. • Clean servo inverter. • Warning threshold can be
• Dirty fan or ventilation slots. • Replace fan. adapted in 0x2D84:2 | 0x3584:2.
• Fan defective. • Fixed error threshold.
• Warning threshold set too low.
Monitoring of the heatsink temperature
________________________________________________________________
Error code 0x4280: Internal fault - module temperature monitoring
Text ID: 0x26

Thermal sensor error • 24 V mains switching required. Fault
• If the error occurs frequently,
please contact Lenze.
Error code 0x4310: Motor temperature too high, [value]
Text ID: 0x0D

Motor temperature higher than • Check drive dimensioning. Fault
variable temperature limit: • Connect KTY or switch off (adjustable in 0x2D49:2 | 0x3549:2)
• Motor too hot due to monitoring. • Warning threshold can be
impermissibly high currents or • Set a higher warning or error adapted in 0x2D49:3 | 0x3549:3.
frequent and too long threshold. • Error threshold adaptable in
acceleration processes. 0x2D49:4 | 0x3549:4.
• No KTY connected.
• Error or warning threshold set too
low.
Motor temperature monitoring
Error code 0x4380: Motor temperature sensor
Text ID: 0x25

Motor temperature sensor • Connect KTY or switch off Class II fault
monitoring. (adjustable in 0x2D49:2 | 0x3549:2)
• Set a higher warning or error • If "fault" is set, the response set in
threshold. 0x605E | 0x685E takes place.
• Warning threshold can be
adapted in 0x2D49:3 | 0x3549:3.
• Error threshold adaptable in
0x2D49:4 | 0x3549:4.
Motor temperature monitoring
Error code 0x5112: 24-V supply
Text ID: 0x0E

24 V supply has failed or has fallen Check 24 V voltage supply. Warning or fault
below the warning threshold (depending on the height of the
(21.45 V) or error threshold (18.15 V). voltage)
• Thresholds are fixed.
Error code 0x6010: Watchdog reset
Text ID: 0x0F

• Reset was triggered via device If the reset was not triggered via the Warning if restart of the drive is
command 1100. device command, consult Lenze if the requested via command.
• Internal error error occurs frequently. Otherwise fault.
________________________________________________________________
Error code 0x6310: Incorrect parameter set download
Text ID: 0x10

Error when downloading a • Repeat parameter set download. Warning if single parameters cannot
parameter set: • Recreate parameter set. be imported.
• CRC error in the parameter set Fault if all parameters cannot be
detected. imported.
• Vendor, product code or revision
of the object directory are
different.
• Unknown parameter set.
Error code 0x6320: Parameter error in object [value]
Text ID: 0x11

Unknown index in the parameter set. Recreate parameter set. Warning
Error code 0x7121: PLI - motor blocked
Text ID: 0x12

An error occurred during the pole • Check whether all requirements Fault
position identification. The pole for an identification of the pole (adjustable in 0x2C60 | 0x3460)
position identification could not be position are fulfilled.
completed successfully: • Ensure that the machine is not
• Too many deviations during the braked or blocked during the pole
identification. position identification.
• Motor is blocked. • Repeat the pole position
identification.
Synchronous motor (SM): Pole position identification
Error code 0x7303: Error in feedback system
Text ID: 0x13

• Encoder cable interrupted. • Check encoder cable. Warning in the states "Not ready to
• Encoder defective. • Check encoder. switch on" and "Switch on disabled".
• Switch off monitoring if feedback Otherwise class II fault
is not used. (adjustable in 0x2C45 | 0x3445)
• If "fault" is set, the response set in
0x605E | 0x685E takes place.
Encoder open-circuit monitoring
________________________________________________________________
Error code 0x7380: Hiperface communication error
Text ID: 0x3A

Communication with HIPERFACE® • Check the supply voltage of the Up to and including version 01.05:
absolute value encoder is disturbed. encoder (0x2C42:2 | 0x3442:2). Fault
• Check wiring to the encoder. (adjustable in 0x2C41:4 | 0x3441:4)
From version 01.06:
Class II fault
(adjustable in 0x2C41:4 | 0x3441:4)
Error code 0x7381: Hiperface: Invalid absolute value - motor speed too high
Text ID: 0x41

The absolute position of the Let the motor coast. Fault
HIPERFACE® absolute value encoder (adjustable in 0x2C41:4 | 0x3441:4)
cannot be accepted as the motor
rotates too fast.
Error code 0x8180: ECAT DC - synchronisation required
Text ID: 0x15

EtherCAT DC mode not activated. Activate DC mode. Warning
(DC = Distributed Clock)
Error code 0x8181: EtherCAT communication
Text ID: 0x19

EtherCAT communication error • Check EtherCAT bus cabling. Class II fault
• Select a longer PDI watchdog • The response set in
time. 0x605E | 0x685E takes place.
Error code 0x8280: Sync Manager - address [value]
Text ID: 0x16

Incorrect Sync Manager setting of the • Check the devices on the bus. Fault
EtherCAT master. • Check cabling or sequence of the
devices on the bus.
• Remove the i700 servo inverter
from the project tree and rescan
the bus.
• Check the device description of
________________________________________________________________
Error code 0x8281: Sync Manager - actual size [value]
Text ID: 0x17

devices on the bus.
the bus.
Error code 0x8282: Sync Manager - settings [value]
Text ID: 0x18

devices on the bus.
the bus.
Error code 0x8283: PDO Mapping: Object unknown (index [value])
Text ID: 0x2B

Unknown index in the PDO mapping. Check PDO mapping. Fault
Error code 0x8284: No PDO mapping object (index [value])
Text ID: 0x2C

Index cannot be mapped as PDO. Check PDO mapping. Fault
Error code 0x8285: Too many mapped objects (max. number = [value])
Text ID: 0x2D

Max. number of PDO mapping Reduce the number of mapping Fault
objects has been exceeded (> 64). objects in the "free mapping".
Error code 0x8286: PDO mapping - error
Text ID: 0x2E

Incorrect PDO mapping. Check PDO mapping. Fault
________________________________________________________________
Error code 0x8700: Sync controller
Text ID: 0x14

• EtherCAT Sync0 signal has failed. • Check in EtherCAT master Class II fault
• PDO transmitted or received too configuration whether DC mode • The response set in
late. is set. 0x605E | 0x685E takes place.
• Restart EtherCAT configuration.
• Select a later instant of reception,
outside the user shift time.
• Sync Error Counter - increase
monitoring limit (0x10F1:2).
Error code 0x8701: Time-out during synchronisation with EtherCAT Sync signal
Text ID: 0x39

During the EtherCAT state change • Check EtherCAT master Fault
from "Pre-Operational" to "Safe- configuration for DC deviation.
Operational": • Restart EtherCAT configuration.
• EtherCAT Sync0 signal has failed.
• Jitter of the EtherCAT Sync0
signal is too high.
Error code 0xFF00: Fatal internal error
Text ID: 0x1A

Internal error • 24 V mains switching required. Fault
Error code 0xFF01: Fatal internal communication error, cycle [value]
Text ID: 0x1B

Error code 0xFF02: Brake
Text ID: 0x1C

Brake error due to short circuit or Check brake cable or brake. Warning in "manual control" mode.
cable break. Otherwise class II fault
(adjustable in 0x2820:6 | 0x3020:6)
________________________________________________________________
Error code 0xFF03: Fatal internal error - overflow task [value]
Text ID: 0x1D

Error code 0xFF04: PLI - motor movement too large
Text ID: 0x1E

Motor moved too much during pole • Check settings of the pole Fault
position identification. position identification in (adjustable in 0x2C60 | 0x3460)
0x2C62 | 0x3462.
• If this error takes place in pole
position identification without
any motion, the motor has to be
stalled.
Synchronous motor (SM): Pole position identification
Error code 0xFF05: STO inhibited
Text ID: 0x1F

The servo inverter is inhibited via STO • Deactivate STO or inhibit the Warning with change to the "Switch
terminals, despite controller enable servo inverter. on disabled" device status.
via the control word. • Check the cabling of the STO
terminals.
Error code 0xFF06: Max. speed reached
Text ID: 0x20

Motor speed too high. • Reduce motor speed. Fault
• Check resolver or cabling. (adjustable in 0x2D44:2 | 0x3544:2)
• Threshold can be adapted in
0x2D44:1 | 0x3544:1.
Error code 0xFF07: Impermissible during identification or in the test mode
Text ID: 0x21

A parameter was attempted to Postpone changing the parameter Warning
change which influences the until the identification is completed
identification in progress or the or the test mode is deactivated again.
currently activated test mode.
Error code 0xFF08: Impossible during identification
Text ID: 0x23

A parameter was attempted to Postpone changing the parameter Warning
change which influences the until the identification is completed.
identification in progress.
________________________________________________________________
Error code 0xFF09: Motor phase failure
Text ID: 0x27

Multiple motor phases are not • Correct the wiring between the Default setting: No response
connected. servo inverter and the motor. Monitoring takes place before and
• In the case of a false alarm, during operation. Both monitoring
increase the threshold values for modes can trigger an error. For
monitoring in 0x2D45 | 0x3545. parameter setting of the two
monitoring modes, see
0x2D45 | 0x3545.
Motor phase failure monitoring
Error code 0xFF0A: Motor phase failure - phase U
Text ID: 0x28

Motor phase U is not connected. • Correct the wiring between the Default setting: No response
servo inverter and the motor. Monitoring takes place before and
0x2D45 | 0x3545.
Error code 0xFF0B: Motor phase failure - phase V
Text ID: 0x29

Motor phase V is not connected. • Correct the wiring between the Default setting: No response
0x2D45 | 0x3545.
Error code 0xFF0C: Motor phase failure - phase W
Text ID: 0x2A

Motor phase W is not connected. • Correct the wiring between the Default setting: No response
0x2D45 | 0x3545.
________________________________________________________________
Error code 0xFF0D: No resolver connected --> command cannot be executed.
Text ID: 0x31

The identification of a resolver error The resolver error can only be Warning
was attempted during V/f identified if the resolver is used as
characteristic control without feedback system during servo
feedback system. control.
Error code 0xFF0E: Speed too low --> command cannot be executed.
Text ID: 0x32

The actual speed is too low for the Repeat identification at higher Warning
resolver error to be identified. speed.
Error code 0xFF0F: No resolver connected --> command cannot be executed.
Text ID: 0x33

The identification of a resolver error Identification is only possible with Warning
was attempted but an encoder is devices with resolver feedback.
used as feedback system.
Error code 0xFF10: Time-out
Text ID: 0x34

Error code 0xFF11: Numerical problem
Text ID: 0x35

Error code 0xFF12: Inverter error too big
Text ID: 0x36

The results of the inverter error Check shielding of the motor cable. Warning
identification are not plausible. Connect the shield with a surface as
large as possible.
________________________________________________________________
Error code 0xFF13: Identification aborted
Text ID: 0x37

A started identification was aborted Repeat the identification and avoid Faulty pole position identification
due to an error or a controller inhibit. the cause of the abort. (adjustable in 0x2C60 | 0x3460)
Otherwise warning
Error code 0xFF14: Not allowed in state 'operation enabled' or 'quick stop active'
Text ID: 0x3B

Reading out and accepting the Inhibit controller. Warning
hiperface data is only permitted
when the controller is inhibited.
Error code 0xFF15: No Hiperface absolute value encoder connected --> command cannot be executed
Text ID: 0x3C

When the "resolver" device version or The command is only possible with Warning
the sin/cos encoder has been the "encoder" device version.
selected, an attempt is being made to Moreover, the "2: Hiperface absolute
read the data from a HIPERFACE® value encoder" selection has to be set
absolute value encoder. in 0x2C40 | 0x3440.
Error code 0xFF16: Connected Hiperface absolute value encoder is not supported
Text ID: 0x3D

The HIPERFACE® absolute value Set type code in Fault
encoder has a type code which is 0x2C41:2 | 0x3441:2. (adjustable in 0x2C41:4 | 0x3441:4)
neither stored in the firmware nor
corresponds to the type code set in
0x2C41:2 | 0x3441:2.
Additional settings for SinCos absolute value encoders with HIPERFACE® protocol
Error code 0xFF17: Connected Hiperface absolute value encoder is not supported --> command cannot be executed
Text ID: 0x3E

The HIPERFACE® absolute value Connect a HIPERFACE® absolute Warning
encoder is not supported by the value encoder which is supported by
device. Hence, no data can be the device.
detected.
Supported encoder types with HIPERFACE® protocol
________________________________________________________________
Error code 0xFF18: Communication timeout in the manual control mode
Text ID: 0x3F

In the "manual control" mode, • Check connection between Fault
writing the setpoint data failed to device, Controller and »EASY
appear for a longer period of time Starter« or »PLC Designer«.
than set in 0x2836:5 | 0x3036:5. • Increase the time period in
0x2836:5 | 0x3036:5.
• Restart manual jog dialog.
Manual control
Error code 0xFF19: Internal error during identification
Text ID: 0x40

Internal error during identification. Please contact Lenze. Warning
Error code 0xFF20: The check of the Replacement Protection has failed
Text ID: 0x66

The check of the Replacement • Enter correct Replacement Warning
Protection has failed. Protection ID.
• Replace device by an OEM device.
• Reprogram Replacement
Protection ID.
9.5 Identification data
________________________________________________________________
9.5 Identification data
0x1000 - Device: Type

0x01020192 Single Servo Axis CiA402
0x02020192 Double Servo Axis CiA402
0x1001 - Error memory
The error memory displays the error cause in a bit coded manner. It is also possible that several errors are pending
at the same time.

0 255 0
0x1008 - ECAT: Manufacturer's device name
0x1009 - Device: Hardware version
0x100A - Device: Software version
0x1018 - ECAT: Identification data
Note:
The fixed identification data depend on the device version of the i700 servo inverter.
Examples of identification data for a double axis are provided below.

1 ECAT: Vendor ID 59 UNSIGNED_32
2 ECAT: Product code 0x69070002: i700 (Double Inverter, UNSIGNED_32
Safety STO)
3 ECAT: ESI revision 65545 UNSIGNED_32
4 ECAT: Serial number UNSIGNED_32
9.6 Diagnostics parameters
________________________________________________________________
0x10F8 - ECAT DC: Current time
Display of the time information the i700 servo inverter is currently using (time of the device if you will).
Real-time information (Distributed Clock)

0 ns 264-1
0x2D81 | 0x3581 - Counter: Operating time

1 Device: Operating time UNSIGNED_32
2 Device: Power-on time UNSIGNED_32
Subindex 1: Device: Operating time

Display of the seconds the i700 servo inverter has been operated (device status "Operation enabled") so far.
0 s 4294967295
Subindex 2: Device: Power-on time

Display of the seconds the i700 servo inverter has been switched on so far.
0 s 4294967295
0x2D82 | 0x3582 - motor: Actual voltage - Veff, phase-phase
Display of the current motor voltage

0.0 V 429496729.5 0.0 V
0x2D83 | 0x3583 - Motor: Phase currents
Display of the current motor current of each individual motor phase

1 Zero system current INTEGER_32
2 Current - phase U INTEGER_32
3 Current - phase V INTEGER_32
4 Current - phase W INTEGER_32
________________________________________________________________
Subindex 1: Zero system current

-21474836.48 A 21474836.47
Subindex 2: Current - phase U

-21474836.48 A 21474836.47
Subindex 3: Current - phase V

-21474836.48 A 21474836.47
Subindex 4: Current - phase W

-21474836.48 A 21474836.47
0x2D8A | 0x358A - Speed monitoring: Current speed error

-480000 r/min 480000
10 Service/internal
________________________________________________________________
10 Service/internal

Axis A Axis B
0x2DD0 0x35D0 Field: Values RECORD

0x2DD1 0x35D1 Motor: Currents RECORD
0x2DD2 0x35D2 Position: Target position interpolated INTEGER_32
0x2DD3 0x35D3 Target speeds RECORD
0x2DD4 0x35D4 Speed controller: Output signal RECORD
0x2DD5 0x35D5 Target torque INTEGER_32
0x2DD6 0x35D6 Torque: Filter cascade RECORD
0x2DD7 0x35D7 Voltage values RECORD
0x2DDC 0x35DC Slip: Actual slip INTEGER_16
0x2DDD 0x35DD Device: Actual output frequency INTEGER_16
0x2DDE 0x35DE Motor: Actual position of rotor angle INTEGER_16
0x2DDF 0x35DF Axis: Device data RECORD
0x2DD0 | 0x35D0 - field: Values

1 Field: Actual field UNSIGNED_16
2 Field: Field setpoint 0% UNSIGNED_16
Subindex 1: Field: actual field

0 % 65535
Subindex 2: Field: target field

0 % 65535 0 %
0x2DD1 | 0x35D1 - motor: Currents

1 D-current (id): Actual D-current INTEGER_16
2 Q-current (iq): Actual Q-current INTEGER_16
3 D-current (id): D-current setpoint INTEGER_16
4 Q-current (iq): Q-current setpoint INTEGER_16
5 Motor current Ieff INTEGER_16
10 Service/internal
________________________________________________________________
Subindex 1: D current (id): Actual D-current

-327.67 A 327.67
Subindex 2: Q current (iq): Actual Q-current

-327.67 A 327.67
Subindex 3: D current (id): Target D current

-327.67 A 327.67
Subindex 4: Q current (iq): Target Q current

-327.67 A 327.67
Subindex 5: Motor current Ieff

-327.67 A 327.67
0x2DD2 | 0x35D2 - Position: Target position interpolated

-2147483647 [Pos unit] 2147483647 0 [Pos unit]
0x2DD3 | 0x35D3 - Target speeds

1 Speed: Target speed 0 rpm INTEGER_32
2 Speed: Target speed 2 0 rpm INTEGER_32
3 Speed: Target speed limited 0 rpm INTEGER_32
Subindex 1: Speed: target speed

-480000 r/min 480000 0 rpm
Subindex 2: Speed: target speed 2

10 Service/internal
________________________________________________________________
Subindex 2: Speed: target speed 2

-480000 r/min 480000 0 rpm
Subindex 3: Speed: target speed limited

-480000 r/min 480000 0 rpm
0x2DD4 | 0x35D4 - Speed controller: Output signal

1 Speed controller: Output signal 1 0.0 % INTEGER_16
2 Speed controller: Output signal 2 0.0 % INTEGER_16
Subindex 1: speed controller: output signal 1

-3276.7 % 3276.7 0.0 %
Subindex 2: speed controller: output signal 2

-3276.7 % 3276.7 0.0 %
0x2DD5 | 0x35D5 - torque: Target torque

-21474836.47 Nm 21474836.47 0.00 Nm
0x2DD6 | 0x35D6 - Torque: Filter cascade

1 Torque: Filter cascade - starting value 0.0 % INTEGER_16
2 Torque: Notch filter 1 - input value 0.0 % INTEGER_16
3 Torque: Notch filter 2 - input value 0.0 % INTEGER_16
4 Torque: Target torque filtered 0.0 % INTEGER_16
10 Service/internal
________________________________________________________________
Subindex 1: Torque: filter cascade - starting value

-3276.7 % 3276.7 0.0 %
Subindex 2: Torque: notch filter 1 - input value

-3276.7 % 3276.7 0.0 %
Subindex 3: Torque: notch filter 2 - input value

-3276.7 % 3276.7 0.0 %
Subindex 4: Torque: target torque filtered

-3276.7 % 3276.7 0.0 %
0x2DD7 | 0x35D7 - Voltage values

1 Current motor voltage limit: Actual voltage INTEGER_16
2 D-current controller: Output signal INTEGER_16
3 Q-current controller: Output signal INTEGER_16
4 D-voltage (magnetisation) INTEGER_16
5 Q-voltage (torque) INTEGER_16
Subindex 1: Current motor voltage limit: actual voltage

-3276.7 V 3276.7
Subindex 2: D-current controller: output signal

-3276.7 V 3276.7
Subindex 3: Q-current controller: output signal

-3276.7 V 3276.7
Subindex 4: D-voltage (magnetisation)

10 Service/internal
________________________________________________________________
Subindex 4: D-voltage (magnetisation)

-3276.7 V 3276.7
Subindex 5: Q-voltage (torque)

-3276.7 V 3276.7
0x2DDC | 0x35DC - Slip: Actual slip

-3276.7 Hz 3276.7
0x2DDD | 0x35DD - Device: Actual output frequency

-3276.7 Hz 3276.7 0.0 Hz
0x2DDE | 0x35DE - motor: Actual position of rotor angle

0 2047
10 Service/internal
10.1 Firmware update
________________________________________________________________
0x2DDF | 0x35DF - Axis: Device data

1 Axis: Rated current UNSIGNED_16
2 Axis: Maximum current UNSIGNED_16
5 Axis: Supported feedback type 0: Product-defined UNSIGNED_8
Subindex 1: axis: rated current

0.00 A 655.35
Subindex 2: axis: maximum current

0.00 A 655.35
Subindex 5: Axis: Supported feedback type

From version 01.03
0 Product-defined
1 No feedback system
2 Resolver
3 SinCos + Hiperface Encoder feedback
10.1 Firmware update
The drive component firmware can be replaced by means of the available EtherCAT interface (RJ45
socket) via FoE. In order to carry out a firmware download, the drive component must be in the
"Bootstrap" EtherCAT status. Only one firmware with the name "i700.bin" is accepted.
10 Service/internal
10.2 Reserved objects
________________________________________________________________
10.2 Reserved objects
 Note!
For the servo inverter i700, various "reserved objects" are provided, which must solely be
used device-internally and must not be written to by the user!
The following reserved objects are provided:
• 0x2C10 Sensorless synchronous control: low speed range, HF-based
• 0x2C11 Sensorless synchronous control: High speed range
• 0x2C12 Sensorless synchronous control: low speed range, current-controlled
• 0x2C13 Sensorless synchronous control: Low speed range, operating mode
11 Appendix
11.1 Table of attributes
________________________________________________________________
11 Appendix
The table of attributes contains information required for communication with the servo inverter via
objects.
How to read the table of attributes:
Column Entry Meaning

Index 0xXXXX Object index
Name Text Object/parameter name
Subindex: text Number and parameter name of the subindex
Data type Data type of the parameter:
INTEGER_8 1 byte, with sign
UNSIGNED_8 1 byte without sign
STRING(xx) ASCII string (with character length xx)
ARRAY [] OF... ARRAY
Scaling Scaling of the parameter
Attributes P Parameter can be persisted.
OSC Parameter can be recorded by means of the oscilloscope function.
Tx Parameter can be mapped into the TPDO.
Rx Parameter can be mapped into the RPDO.
CINH Parameter can only be written to if controller inhibit is set.
Index Name Data type Factor Attributes

Communication Area
0x1000 Device: Type UNSIGNED_32 -
0x1001 Error memory UNSIGNED_8 - Tx
0x1008 ECAT: Manufacturer device name STRING(50) -
0x1009 Device: Hardware version STRING(50) -
0x100A Device: Software version STRING(50) -
0x1018 ECAT: Identity object
1: ECAT: Manufacturer ID UNSIGNED_32 -
2: ECAT: Product code UNSIGNED_32 -
3: ECAT: ESI revision UNSIGNED_32 -
4: ECAT: Serial number UNSIGNED_32 -
0x10F1 ECAT: Behaviour in case of error
1: Internal device response UNSIGNED_32 -
2: Synchronisation: Error threshold UNSIGNED_32 - P
Greyed out = read only
11 Appendix
________________________________________________________________

0x10F3 Diagnostics: History buffer
1: Max. number of messages UNSIGNED_8 -
2: Latest message UNSIGNED_8 -
3: Latest acknowledged message UNSIGNED_8 -
4: Latest active message UNSIGNED_8 - Tx
5: Control bits UNSIGNED_16 -
0x10F8 ECAT DC: Current time UNSIGNED_64 - Tx
Manufacturer specific area
0x2000 Device: Data
1: Device: Product designation STRING(50) -
2: Device: Serial number STRING(50) -
3: Device: Manufacturing date STRING(50) -
0x2001 Device: Name STRING(128) - P
0x2020 EoE information
1: Virtual MAC address STRING(32) -
2: IP address STRING(32) -
3: Subnet mask STRING(32) -
4: Standard gateway STRING(32) -
5: DNS server STRING(32) -
6: DNS name STRING(50) -
7: Received packages UNSIGNED_32 -
8: Sent packages UNSIGNED_32 -
0x2021 Device: Optical recognition
1: Start optical recognition UNSIGNED_8 -
2: Optical recognition: Blinking time UNSIGNED_16 -
0x2022 Device command UNSIGNED_32 -
0x2030 Parameter set: Validity check (CRC) UNSIGNED_32 -
0x2100 Brand protection
1: Brand protection: Set pin INTEGER_32 -
2: Brand protection: Enter pin INTEGER_32 -
3: Brand protection: Encryption UNSIGNED_8 -
0x2500 Touch probe (TP): Debounce time UNSIGNED_16 - P
0x2540 Device: Voltage values
1: Mains: Rated voltage UNSIGNED_8 - P
2: Undervoltage (LU): Warning threshold UNSIGNED_16 - P
3: Undervoltage (LU): Error threshold UNSIGNED_16 - P
4: Undervoltage (LU): Threshold 'Reset error' UNSIGNED_16 - P
5: Overvoltage (OU): Warning threshold UNSIGNED_16 - P
6: Overvoltage (OU): Error threshold UNSIGNED_16 - P
7: Overvoltage (OU): Threshold 'Reset error' UNSIGNED_16 - P
8: Critical DC-bus voltage UNSIGNED_8 - Tx
0x2580 ECAT DC: Real-time information
1: ECAT DC: Status real-time information UNSIGNED_8 -
2: ECAT DC: Time stamp first real-time UNSIGNED_64 -
information
3: ECAT DC: Time stamp last real-time UNSIGNED_64 -
information
4: ECAT DC: Current time UNSIGNED_64 -
Axis A - holding brake control
11 Appendix
________________________________________________________________

0x2820 Brake control: Settings
1: Brake: Mode UNSIGNED_8 - P Rx
2: Brake: Application time UNSIGNED_16 - P
3: Brake: Release time UNSIGNED_16 - P
4: Brake: Brake recognition UNSIGNED_16 -
5: Brake: Control logic UNSIGNED_8 - P
6: Brake monitoring: Response UNSIGNED_8 - P
9: Holding brake: Starting torque source UNSIGNED_16 - P
10: Holding brake: Starting torque INTEGER_16 1/10 P Rx
11: Holding brake: Override of the holding brake UNSIGNED_8 -
control
Axis A - device control
0x2822 Axis command UNSIGNED_32 -
0x2823 Axis command: Progress UNSIGNED_8 -
0x2824 Device control via PDO: Activation UNSIGNED_8 - P CINH
0x2825 Mode: Selection UNSIGNED_8 - P CINH
0x2826 Quick stop: Duration in case of trouble UNSIGNED_32 - P
0x2830 Lenze control word UNSIGNED_16 - OSC Rx
0x2831 Lenze status word UNSIGNED_16 - OSC Tx
0x2832 Identification: Status word UNSIGNED_16 - OSC
0x2833 Lenze statusword 2 UNSIGNED_16 - OSC Tx
0x2835 Manual test mode: Settings
1: Manual test mode: Setpoint current INTEGER_16 - OSC Rx
2: Manual test mode: Frequency INTEGER_16 1/10 OSC Rx
3: Manual test mode: Starting angle INTEGER_16 1/10
0x2836 Manual jog: Settings
1: Manual jog: Setpoint current UNSIGNED_16 - Rx
2: Manual jog: Frequency INTEGER_16 1/10 OSC Rx
3: Manual jog: Ramp time - current UNSIGNED_16 - P
4: Manual jog: Ramp time - frequency UNSIGNED_16 - P
5: Manual jog: Time monitoring UNSIGNED_32 - P
6: Manual jog: Current controller gain UNSIGNED_32 1/100 P
7: Manual jog: Current controller reset time UNSIGNED_32 1/100 P
Axis A - error management
0x2840 Delay time: Reset error INTEGER_32 -
0x2841 Resetting an error UNSIGNED_8 -
0x284F Current fault ARRAY [0..63] OF BYTE -
0x2860 PRBS excitation
1: PRBS stimulation: Cycle time UNSIGNED_16 - P
2: PRBS stimulation: Amplitude UNSIGNED_16 1/10 P
Axis A - controller settings
0x2900 Speed controller: Parameter
1: Speed controller: Gain UNSIGNED_32 1/100000 P
2: Speed controller: Reset time UNSIGNED_16 1/10 P
3: Speed controller: Rate time UNSIGNED_16 1/100 P
0x2901 Speed controller: Gain - adaptation UNSIGNED_16 1/100 P OSC Rx
0x2902 Speed controller: I component load value INTEGER_16 1/10 P OSC Rx
0x2903 Speed: Speed setpoint - filter time UNSIGNED_16 1/10 P
0x2904 Speed: Actual speed - filter time UNSIGNED_16 1/10 P
11 Appendix
________________________________________________________________

0x2910 Moments of inertia
1: Moment of inertia: Motor UNSIGNED_32 1/100 P
2: Moment of inertia: Load UNSIGNED_32 1/100 P
3: Moment of inertia: Motor-load coupling UNSIGNED_8 - P
0x2939 Switching frequency UNSIGNED_8 - P
0x2941 Current controller: Feedforward control UNSIGNED_8 - P
0x2942 Current controller: Parameter
1: Current controller: Gain UNSIGNED_32 1/100 P
2: Current controller: Reset time UNSIGNED_32 1/100 P
0x2943 Motor: Current setpoint - filter time UNSIGNED_16 1/100 P
0x2944 Torque: Notch filter torque setpoint
1: Notch filter 1: Frequency UNSIGNED_16 1/10 P
2: Notch filter 1: Bandwidth UNSIGNED_16 1/10 P
3: Notch filter 1: Damping UNSIGNED_8 - P
0x2945 Torque: Jerk limitation setpoint UNSIGNED_16 1/10 P
0x2946 Cyclic sync torque mode: Speed limitation
1: Speed limitation: Upper speed limit INTEGER_32 480000/ P OSC Rx
231
2: Speed limitation: Lower speed limit INTEGER_32 480000/ P OSC Rx
231
0x2947 Inverter characteristic: Voltage grid points (y)
1: IC: y1 = U01 (x = 0.00 %) UNSIGNED_16 1/100 P
2: IC: y2 = U02 (x = 6.25 %) UNSIGNED_16 1/100 P
3: IC: y3 = U03 (x = 12.50 %) UNSIGNED_16 1/100 P
4: IC: y4 = U04 (x = 18.75 %) UNSIGNED_16 1/100 P
5: IC: y5 = U05 (x = 25.00 %) UNSIGNED_16 1/100 P
6: IC: y6 = U06 (x = 31.25 %) UNSIGNED_16 1/100 P
7: IC: y7 = U07 (x = 37.50 %) UNSIGNED_16 1/100 P
8: IC: y8 = U08 (x = 42.75 %) UNSIGNED_16 1/100 P
9: IC: y9 = U09 (x = 50.00 %) UNSIGNED_16 1/100 P
10: IC: y10 = U10 (x = 56.25 %) UNSIGNED_16 1/100 P
11: IC: y11 = U11 (x = 62.50 %) UNSIGNED_16 1/100 P
12: IC: y12 = U12 (x = 68.75 %) UNSIGNED_16 1/100 P
13: IC: y13 = U13 (x = 75.00 %) UNSIGNED_16 1/100 P
14: IC: y14 = U14 (x = 81.25 %) UNSIGNED_16 1/100 P
15: IC: y15 = U15 (x = 87.50 %) UNSIGNED_16 1/100 P
16: IC: y16 = U16 (x = 93.25 %) UNSIGNED_16 1/100 P
17: IC: y17 = U17 (x = 100.00 %) UNSIGNED_16 1/100 P
0x2980 Position controller: Gain UNSIGNED_32 1/100 P
0x2981 Position controller: Gain - adaption UNSIGNED_16 1/100 P OSC Rx
0x2982 Position controller: Output signal limitation UNSIGNED_32 480000/ P OSC Rx
231
0x2983 Position: Select new actual position INTEGER_32 - P OSC Rx
0x2984 Determine target position: Mode UNSIGNED_8 - P
0x29C0 Field controller: Parameter
1: Field controller: Gain UNSIGNED_32 1/100 P
2: Field controller: Reset time UNSIGNED_16 1/10 P
11 Appendix
________________________________________________________________

0x29E0 Field weakening controller: Parameter
1: Field weakening controller: Gain UNSIGNED_32 1/1000 P
2: Field weakening controller: Reset time UNSIGNED_32 1/10 P
0x29E1 Field set value limitation UNSIGNED_16 1/100 P OSC Rx
0x29E2 DC link circuit voltage: Filter time UNSIGNED_16 1/10 P
0x29E3 Motor voltage act. value: Filter time UNSIGNED_16 1/10 P
0x29E4 Voltage reserve UNSIGNED_8 - P
Axis A - V/f operation
0x2B00 VFC: V/f characteristic - shape UNSIGNED_8 - P CINH
0x2B01 VFC: V/f characteristic - define reference point
1: VFC: V/f characteristic - voltage at reference UNSIGNED_16 - P
point
2: VFC: V/f characteristic - frequency at reference UNSIGNED_16 - P
point
0x2B02 VFC: User-definable V/f characteristic - frequency grid points (x)
1: V/f: x1 = f01 INTEGER_16 - P
2: V/f: x2 = f02 INTEGER_16 - P
3: V/f: x3 = f03 INTEGER_16 - P
4: V/f: x4 = f04 INTEGER_16 - P
5: V/f: x5 = f05 INTEGER_16 - P
6: V/f: x6 = f06 INTEGER_16 - P
7: V/f: x7 = f07 INTEGER_16 - P
8: V/f: x8 = f08 INTEGER_16 - P
9: V/f: x9 = f09 INTEGER_16 - P
10: V/f: x10 = f10 INTEGER_16 - P
11: V/f: x11 = f11 INTEGER_16 - P
0x2B03 VFC: User-definable V/f characteristic - voltage grid points (y)
1: V/f: y1 = U01 (x = f01) UNSIGNED_32 1/100 P
0x2B04 VFC: Voltage vector control - current setpoint UNSIGNED_32 1/100 P
0x2B05 VFC: Voltage vector control parameter
1: VFC: Voltage vector controller - gain UNSIGNED_32 1/100 P
2: VFC: Voltage vector controller - reset time UNSIGNED_32 1/100 P
0x2B06 VFC: Voltage boost UNSIGNED_16 1/10 P
0x2B07 VFC: Load adjustment - parameter
1: VFC: Load adjustment - direction of rotation UNSIGNED_8 - P CINH
2: VFC: Load adjustment - value UNSIGNED_32 1/100 P
0x2B08 VFC: Imax controller - parameter
1: VFC: Imax controller - gain UNSIGNED_32 1/1000 P
2: VFC: Imax controller - reset time UNSIGNED_32 1/10 P
0x2B09 VFC: Slip compensation - parameter
1: VFC: Slip compensation - influence INTEGER_16 1/100 P
2: VFC: Slip compensation - filter time UNSIGNED_16 - P
11 Appendix
________________________________________________________________

0x2B0A VFC: Oscillation damping - parameter
1: VFC: Oscillation damping - gain INTEGER_16 - P
2: VFC: Oscillation damping - filter time UNSIGNED_16 - P
3: VFC: Oscillation damping - limitation UNSIGNED_16 1/10 P
4: VFC: Oscillation damping - final ramp UNSIGNED_8 - P
frequency
0x2B0B VFC: Frequency setpoint INTEGER_16 1/10 OSC Tx
0x2B0C VFC: Override point of field weakening INTEGER_16 1/10 P
0x2B80 DC-injection braking: Current UNSIGNED_16 1/100 P
0x2BA0 Flying restart: Activate UNSIGNED_8 - P
0x2BA1 Flying restart: Current UNSIGNED_16 - P
0x2BA2 Flying restart: Start frequency INTEGER_16 1/10 P
0x2BA3 Flying restart: Integration time UNSIGNED_16 - P
0x2BA4 Flying restart: Min. deviation UNSIGNED_16 1/100 P
0x2BA5 Flying restart: Delay time UNSIGNED_16 - P
0x2BA6 Flying restart: Result
1: Flying restart: Determined speed [rpm] INTEGER_16 - OSC Tx
2: Flying restart: Determined speed [n unit] INTEGER_32 480000/ OSC Tx
231
Axis A - motor settings
0x2C00 Motor control UNSIGNED_8 - P CINH
0x2C01 Motor: Common parameters
1: Motor: Number of pole pairs UNSIGNED_8 -
2: Motor: Stator resistance UNSIGNED_32 1/10000 P
3: Motor: Stator leakage inductance UNSIGNED_32 1/1000 P
4: Motor: Rated speed UNSIGNED_16 - P
5: Motor: Rated frequency UNSIGNED_16 1/10 P
6: Motor: Rated power UNSIGNED_16 1/100 P
7: Motor: Rated voltage UNSIGNED_16 - P
8: Motor: Rated cosine phi UNSIGNED_16 1/100 P
9: Motor: Insulation class UNSIGNED_8 - P
10: Motor: Designation STRING(50) - P
0x2C02 Motor (ASM): Parameter
1: Motor (ASM): Rotor resistance UNSIGNED_32 1/10000 P
2: Motor (ASM): Mutual inductance UNSIGNED_32 1/10 P
3: Motor (ASM): Magnetising current UNSIGNED_16 1/100 P
0x2C03 Motor (SM): Parameter
1: Motor (SM): e.m.f. constant (KELL) UNSIGNED_32 1/10 P
2: Motor (SM): Pole position INTEGER_16 1/10 P
3: Motor (SM): Temperature coefficient - INTEGER_16 1/1000 P
magnets (kTN)
11 Appendix
________________________________________________________________

0x2C04 Motor: Lss saturation characteristic - inductance grid points (y)
1: Lss: y1 = L01 (x = 0.00 %) UNSIGNED_16 - P
18: Motor: Lss saturation characteristic - UNSIGNED_16 - P
activation
0x2C05 Motor: Lss saturation charcteristic - reference for UNSIGNED_16 1/10 P
current grid points (x)
0x2C06 Motor (SM): Magnet characteristic (current) - grid points
1: Magnet characteristic: x1 = i01/iN UNSIGNED_16 - P
2: Magnet characteristic: y1 = kT01/kTN UNSIGNED_16 - P
0x2C07 Motor (ASM): Lh saturation characteristic - inductance grid points (y)
1: Lh: y1 = L01 (x = 0.00 %) UNSIGNED_16 - P
2: Lh: y2 = L02 (x = 6.25 %) UNSIGNED_16 - P
3: Lh: y3 = L03 (x = 12.50 %) UNSIGNED_16 - P
4: Lh: y4 = L04 (x = 18.75 %) UNSIGNED_16 - P
5: Lh: y5 = L05 (x = 25.00 %) UNSIGNED_16 - P
6: Lh: y6 = L06 (x = 31.25 %) UNSIGNED_16 - P
7: Lh: y7 = L07 (x = 37.50 %) UNSIGNED_16 - P
8: Lh: y8 = L08 (x = 43.75 %) UNSIGNED_16 - P
9: Lh: y9 = L09 (x = 50.00 %) UNSIGNED_16 - P
10: Lh: y10 = L10 (x = 56.25 %) UNSIGNED_16 - P
11: Lh: y11 = L11 (x = 62.50 %) UNSIGNED_16 - P
12: Lh: y12 = L12 (x = 68.75 %) UNSIGNED_16 - P
13: Lh: y13 = L13 (x = 75.00 %) UNSIGNED_16 - P
14: Lh: y14 = L14 (x = 81.25 %) UNSIGNED_16 - P
15: Lh: y15 = L15 (x = 87.50 %) UNSIGNED_16 - P
16: Lh: y16 = L16 (x = 93.75 %) UNSIGNED_16 - P
17: Lh: y17 = L17 (x = 100.00 %) UNSIGNED_16 - P
0x2C08 Motor: Motor parameter setting method UNSIGNED_8 - P
11 Appendix
________________________________________________________________

0x2C10 Sensorless synchronous control: low speed range, HF-based
1: HF amplitude UNSIGNED_16 1/10 P
2: angle tracking controller: gain UNSIGNED_16 1/100 P
3: angle tracking controller: reset time UNSIGNED_16 1/100 P
4: static compensation: angle INTEGER_16 1/10 P
5: dynamic compensation: angle 1 INTEGER_16 1/10 P
6: dynamic compensation: angle 2 INTEGER_16 1/10 P
7: filter time constant UNSIGNED_16 1/10 P
0x2C11 Sensorless synchronous control: High speed range
1: lower limt for "high speed range" UNSIGNED_16 - P
2: angle tracking controller: gain UNSIGNED_16 - P
3: angle tracking controller: reset time UNSIGNED_16 1/100 P
4: sensorless synchronous control: decoupling UNSIGNED_16 1/100 P
time - speed range
0x2C12 Sensorless synchronous control: low speed range, current-controlled
1: Additive accelerating current UNSIGNED_16 - P
2: Standstill holding current UNSIGNED_16 - P
0x2C13 Sensorless synchronous control: Low speed UNSIGNED_8 - P
range, operating mode
Axis A - feedback system
0x2C40 Encoder: Type UNSIGNED_8 - P CINH
0x2C41 Hiperface: Parameter
1: Hiperface: Determined type code UNSIGNED_8 -
2: Hiperface: User def. encoder - type code UNSIGNED_8 - P CINH
3: Hiperface: User def. encoder - specifiable UNSIGNED_16 - P CINH
revolutions
4: Hiperface absolute value fault: Response UNSIGNED_8 - P
5: Hiperface: Serial number STRING(50) -
6: Hiperface: Raw data - Actual position UNSIGNED_32 - Tx
7: Hiperface: Detected Increments / revolution UNSIGNED_16 - Tx
8: Hiperface: Type code supported by firmware UNSIGNED_8 - Tx
9: Hiperface: Encoder type UNSIGNED_8 - Tx
10: Hiperface: Period length of linear encoders UNSIGNED_32 - Tx
0x2C42 Encoder: Parameter
1: Encoder: Increments / revolution UNSIGNED_32 - P CINH
2: Encoder: Supply voltage UNSIGNED_8 1/10 P CINH
3: Encoder: Angle drift - Actual angle error INTEGER_16 1/10 OSC Tx
4: Encoder: Signal quality - Actual amplitude UNSIGNED_8 - OSC
0x2C43 Resolver: Number of pole pairs UNSIGNED_8 - P CINH
0x2C44 Resolver error compensation: Parameter
1: Resolver error compensation: Angle INTEGER_16 - P
2: Resolver error compensation: Cosine track UNSIGNED_16 - P
gain
3: Resolver error compensation: Sine track gain UNSIGNED_16 - P
0x2C45 Feedback system: Response to open circuit UNSIGNED_8 - P
0x2C46 Feedback system: Specifiable number of UNSIGNED_16 -
revolutions
0x2C47 Feedback system: Open circuit detection UNSIGNED_8 - P
sensitivity
0x2C5F Feedback system: Parameter CRC UNSIGNED_32 -
Axis A - pole position identification
0x2C60 Monitoring pole position identification: UNSIGNED_8 - P
Response
11 Appendix
________________________________________________________________

0x2C61 Pole position identification PPI (360°)
1: PPI (360°): Current amplitude UNSIGNED_16 - P CINH
2: PPI (360°): Ramp time UNSIGNED_16 - P CINH
3: PPI (360°): Direction of rotation UNSIGNED_8 - P CINH
4: PPI (360°): Fault tolerance UNSIGNED_8 - P
5: PPI (360°): Absolute current amplitude UNSIGNED_32 1/100
0x2C62 Pole position identification PPI (min. movement)
1: PPI (min. movement): Current amplitude UNSIGNED_16 - P CINH
2: PPI (min. movement): Ramp time - current UNSIGNED_16 - P CINH
3: PPI (min. movement): Gain UNSIGNED_16 - P
4: PPI (min. movement): Reset time UNSIGNED_16 1/10 P
5: PPI (min. movement): Max. move permitted UNSIGNED_8 - P
6: PPI (min. movement): Absolute current UNSIGNED_32 1/100
amplitude
0x2C63 Pole position identification PPI (without movement)
1: Behaviour after switch-on UNSIGNED_8 - P CINH
Axis A - touch probe
0x2D00 Touch probe (TP): Dead time compensation
1: Dead time compensation: TP1 delay time UNSIGNED_16 1/1000 P
0x2D01 Touch probe (TP): Time stamp
1: TP1: Time stamp - rising edge UNSIGNED_32 - OSC Tx
2: TP1: Time stamp - falling edge UNSIGNED_32 - OSC Tx
Axis A - monitoring functions
0x2D40 Ixt utilisation
1: Power stage utilisation (Ixt): Actual utilisation UNSIGNED_16 - OSC Tx
2: Power stage utilisation (Ixt): Warning UNSIGNED_16 - P
threshold
3: Power stage utilisation (Ixt): Error threshold UNSIGNED_16 -
4: Device utilisation (Ixt): Actual utilisation UNSIGNED_16 - OSC Tx
5: Device utilisation (Ixt): Warning threshold UNSIGNED_16 - P
6: Device utilisation (Ixt): Error limit UNSIGNED_16 -
0x2D44 Motor speed monitoring
1: Motor speed monitoring: Threshold UNSIGNED_16 - P
2: Motor speed monitoring: Response UNSIGNED_8 - P
0x2D45 Motor phase failure detection
1: Motor phase failure 1: Response UNSIGNED_8 - P
2: Motor phase failure 1: Current threshold UNSIGNED_8 1/10 P
3: Motor phase failure 1: Voltage threshold UNSIGNED_16 1/10 P
0x2D46 Monitoring: Ultimate motor current
1: Ultimate motor current: Threshold UNSIGNED_16 1/10 P
2: Ultimate motor current: Response UNSIGNED_8 - P
11 Appendix
________________________________________________________________

0x2D49 Motor temperature monitoring: Parameter
1: Motor temperature monitoring: Sensor type UNSIGNED_8 - P
2: Motor temperature monitoring: Response UNSIGNED_8 - P
3: Motor temperature monitoring: Warning INTEGER_16 1/10 P
threshold
4: Motor temperature monitoring: Error INTEGER_16 1/10 P
threshold
5: Motor temperature monitoring: Actual motor INTEGER_16 1/10 OSC Tx
temperature
6: Thermal sensor characteristic: Grid point 1 - INTEGER_16 1/10 P
temperature
temperature
8: Thermal sensor characteristic: grid point 1 - INTEGER_16 - P
resistance
resistance
0x2D4C Motor utilisation (I²xt): Parameter for the thermal model
1: Motor utilisation (I²xt): Thermal time constant UNSIGNED_16 - P
- winding
- laminations
3: Motor utilisation (I²xt): Influence of the UNSIGNED_8 - P
winding
4: Motor utilisation (I²xt): Starting value UNSIGNED_16 - P
0x2D4D Motor utilisation (I²xt): User-definable characteristic
1: I²xt: x1 = n01/nN (n01 ~ 0) UNSIGNED_16 - P
2: I²xt: y1 = i01/iN (x = n01 ~ 0) UNSIGNED_16 - P
3: I²xt: x2 = n02/nN (n02 = limit - reduced UNSIGNED_16 - P
cooling)
4: I²xt: y2 = i02/iN (x = n02 = limit - reduced UNSIGNED_16 - P
cooling)
5: I²xt: x3 = n03/nN (n03 = rated speed) UNSIGNED_16 - P
6: I²xt: y3 = i03/iN (x = n03 = rated speed) UNSIGNED_16 - P
7: I²xt: x4 = n04/nN (n04 = limit - field UNSIGNED_16 - P
weakening)
8: I²xt: y4 = i04/iN (x = n04 = limit - field UNSIGNED_16 - P
weakening)
0x2D4E Motor utilisation (I²xt): Motor overload warning UNSIGNED_16 - P
threshold
0x2D4F Motor utilisation (I²xt): Actual utilisation UNSIGNED_16 - OSC Tx
0x2D50 Motor utilisation (I²xt): Motor overload error
1: Motor utilisation (I²xt): Response UNSIGNED_8 - P
2: Motor utilisation (I²xt): Error threshold UNSIGNED_16 - P
0x2D51 Monitoring: Position and velocity error
1: Monitoring: Velocity error - error threshold UNSIGNED_32 - P
2: Monitoring: Velocity error - minimum error UNSIGNED_16 - P
time
3: Monitoring: Velocity error - response UNSIGNED_8 - P
4: Monitoring: Position error - error threshold UNSIGNED_32 - P
5: Monitoring: Position error - minimum error UNSIGNED_16 - P
time
6: Monitoring: Position error - response UNSIGNED_8 - P
0x2D81 Counter: Operating time
1: Device: Operating time UNSIGNED_32 -
2: Device: Power-on time UNSIGNED_32 -
0x2D82 Motor: Actual voltage - Veff, phase-phase UNSIGNED_32 1/10 OSC Tx
11 Appendix
________________________________________________________________

0x2D83 Motor: Phase currents
1: Zero system current INTEGER_32 1/100 OSC Tx
2: Current - phase U INTEGER_32 1/100 OSC Tx
3: Current - phase V INTEGER_32 1/100 OSC Tx
4: Current - phase W INTEGER_32 1/100 OSC Tx
0x2D84 Heatsink temperature
1: Heatsink temperature: Actual temperature INTEGER_16 1/10 OSC
2: Heatsink temperature: Warning threshold INTEGER_16 1/10 P
3: Heatsink temperature: Threshold - switch-on INTEGER_16 1/10 P
fan
4: Heatsink temperature: Threshold - switch-off INTEGER_16 1/10 P
fan
0x2D8A Speed monitoring: Actual speed error INTEGER_32 - OSC Tx
0x2DD0 Field: Values
1: Field: Actual field UNSIGNED_16 - OSC Tx
2: Field: Setpoint field UNSIGNED_16 - OSC Tx
0x2DD1 Motor: Currents
1: D current (id): Actual D current INTEGER_16 1/100 OSC Tx
2: Q current (iq): Actual Q current INTEGER_16 1/100 OSC Tx
3: D current (id): Setpoint D current INTEGER_16 1/100 OSC Tx
4: Q current (iq): Setpoint Q current INTEGER_16 1/100 OSC Tx
5: Motor current Ieff INTEGER_16 1/100 OSC Tx
0x2DD2 Position: Target position interpolated INTEGER_32 - OSC Tx
0x2DD3 Target speeds
1: Speed: Setpoint speed INTEGER_32 - OSC Tx
2: Speed: Setpoint speed 2 INTEGER_32 - OSC Tx
3: Speed: Limited setpoint speed INTEGER_32 - OSC Tx
0x2DD4 Speed controller: Output signal
1: Speed controller: Output signal 1 INTEGER_16 1/10 OSC Tx
0x2DD5 Target torque INTEGER_32 1/100 OSC Tx
0x2DD6 Torque: Filter cascade
1: Torque: Filter cascade - starting value INTEGER_16 1/10 OSC Tx
2: Torque: Notch filter 1 - input value INTEGER_16 1/10 OSC Tx
4: Torque: Filtered setpoint torque INTEGER_16 1/10 OSC Tx
0x2DD7 Voltage values
1: Actual motor voltage limit: Actual voltage INTEGER_16 1/10 OSC Tx
2: D-current controller: Output signal INTEGER_16 1/10 OSC Tx
3: Q-current controller: Output signal INTEGER_16 1/10 OSC Tx
4: D-voltage (magnetisation) INTEGER_16 1/10 OSC Tx
5: Q-voltage (torque) INTEGER_16 1/10 OSC Tx
0x2DDC Slip: Actual slip INTEGER_16 1/10 OSC Tx
0x2DDD Device: Actual output frequency INTEGER_16 1/10 OSC Tx
0x2DDE Motor: Actual position of rotor angle INTEGER_16 - OSC Tx
0x2DDF Axis: Device data
1: Axis: Rated current UNSIGNED_16 1/100 OSC Tx
2: Axis: Maximum current UNSIGNED_16 1/100 OSC Tx
UNSIGNED_16 1/109 Tx
5: Axis: Supported feedback type UNSIGNED_8 - Tx

11 Appendix
________________________________________________________________

0x2DE0 Advanced settings
1: Current controller: Setting for identification UNSIGNED_8 -
2: Sensorless synchronous control: Signal for test UNSIGNED_8 -
mode
3: Resolver: Position detection - dynamics UNSIGNED_16 -
4: Resolver: 8 kHz safety signal UNSIGNED_8 -
5: Torque: 4 or 16 kHz interpolation UNSIGNED_8 - P
Axis B - holding brake control
0x3020 Brake control: Settings
1: Brake: Mode UNSIGNED_8 - P Rx
2: Brake: Application time UNSIGNED_16 - P
3: Brake: Release time UNSIGNED_16 - P
4: Brake: Brake recognition UNSIGNED_16 -
5: Brake: Control logic UNSIGNED_8 - P
6: Brake monitoring: Response UNSIGNED_8 - P
9: Holding brake: Starting torque source UNSIGNED_16 - P
10: Holding brake: Starting torque INTEGER_16 1/10 P Rx
11: Holding brake: Override of the holding brake UNSIGNED_8 -
control
Axis B - device control
0x3022 Axis command UNSIGNED_32 -
0x3023 Axis command: Progress UNSIGNED_8 -
0x3024 Device control via PDO: Activation UNSIGNED_8 - P CINH
0x3025 Mode: Selection UNSIGNED_8 - P CINH
0x3026 Quick stop: Duration in case of trouble UNSIGNED_32 - P
0x3030 Lenze control word UNSIGNED_16 - OSC Rx
0x3031 Lenze status word UNSIGNED_16 - OSC Tx
0x3032 Identification: Status word UNSIGNED_16 - OSC
0x3033 Lenze statusword 2 UNSIGNED_16 - OSC Tx
0x3035 Manual test mode: Settings
1: Manual test mode: Setpoint current INTEGER_16 - OSC Rx
2: Manual test mode: Frequency INTEGER_16 1/10 OSC Rx
3: Manual test mode: Starting angle INTEGER_16 1/10
0x3036 Manual jog: Settings
1: Manual jog: Setpoint current UNSIGNED_16 - Rx
2: Manual jog: Frequency INTEGER_16 1/10 OSC Rx
3: Manual jog: Ramp time - current UNSIGNED_16 - P
4: Manual jog: Ramp time - frequency UNSIGNED_16 - P
5: Manual jog: Time monitoring UNSIGNED_32 - P
6: Manual jog: Current controller gain UNSIGNED_32 1/100 P
7: Manual jog: Current controller reset time UNSIGNED_32 1/100 P
Axis B - error management
0x3040 Delay time: Reset error INTEGER_32 -
0x3041 Resetting an error UNSIGNED_8 -
0x304F Current fault ARRAY [0..63] OF BYTE -
0x3060 PRBS excitation
1: PRBS stimulation: Cycle time UNSIGNED_16 - P
2: PRBS stimulation: Amplitude UNSIGNED_16 1/10 P
Axis B - controller settings
11 Appendix
________________________________________________________________

0x3100 Speed controller: Parameter
1: Speed controller: Gain UNSIGNED_32 1/100000 P
2: Speed controller: Reset time UNSIGNED_16 1/10 P
3: Speed controller: Rate time UNSIGNED_16 1/100 P
0x3101 Speed controller: Gain - adaptation UNSIGNED_16 1/100 P OSC Rx
0x3102 Speed controller: I component load value INTEGER_16 1/10 P OSC Rx
0x3103 Speed: Speed setpoint - filter time UNSIGNED_16 1/10 P
0x3104 Speed: Actual speed - filter time UNSIGNED_16 1/10 P
0x3110 Moments of inertia
1: Moment of inertia: Motor UNSIGNED_32 1/100 P
2: Moment of inertia: Load UNSIGNED_32 1/100 P
3: Moment of inertia: Motor-load coupling UNSIGNED_8 - P
0x3139 Switching frequency UNSIGNED_8 - P
0x3141 Current controller: Feedforward control UNSIGNED_8 - P
0x3142 Current controller: Parameter
1: Current controller: Gain UNSIGNED_32 1/100 P
2: Current controller: Reset time UNSIGNED_32 1/100 P
0x3143 Motor: Current setpoint - filter time UNSIGNED_16 1/100 P
0x3144 Torque: Notch filter torque setpoint
0x3145 Torque: Jerk limitation setpoint UNSIGNED_16 1/10 P
0x3146 Cyclic sync torque mode: Speed limitation
1: Speed limitation: Upper speed limit INTEGER_32 480000/ P OSC Rx
231
2: Speed limitation: Lower speed limit INTEGER_32 480000/ P OSC Rx
231
0x3147 Inverter characteristic: Voltage grid points (y)
1: IC: y1 = U01 (x = 0.00 %) UNSIGNED_16 1/100 P
2: IC: y2 = U02 (x = 6.25 %) UNSIGNED_16 1/100 P
3: IC: y3 = U03 (x = 12.50 %) UNSIGNED_16 1/100 P
4: IC: y4 = U04 (x = 18.75 %) UNSIGNED_16 1/100 P
5: IC: y5 = U05 (x = 25.00 %) UNSIGNED_16 1/100 P
6: IC: y6 = U06 (x = 31.25 %) UNSIGNED_16 1/100 P
7: IC: y7 = U07 (x = 37.50 %) UNSIGNED_16 1/100 P
8: IC: y8 = U08 (x = 42.75 %) UNSIGNED_16 1/100 P
9: IC: y9 = U09 (x = 50.00 %) UNSIGNED_16 1/100 P
10: IC: y10 = U10 (x = 56.25 %) UNSIGNED_16 1/100 P
11: IC: y11 = U11 (x = 62.50 %) UNSIGNED_16 1/100 P
12: IC: y12 = U12 (x = 68.75 %) UNSIGNED_16 1/100 P
13: IC: y13 = U13 (x = 75.00 %) UNSIGNED_16 1/100 P
14: IC: y14 = U14 (x = 81.25 %) UNSIGNED_16 1/100 P
15: IC: y15 = U15 (x = 87.50 %) UNSIGNED_16 1/100 P
16: IC: y16 = U16 (x = 93.25 %) UNSIGNED_16 1/100 P
17: IC: y17 = U17 (x = 100.00 %) UNSIGNED_16 1/100 P
0x3180 Position controller: Gain UNSIGNED_32 1/100 P
0x3181 Position controller: Gain - adaption UNSIGNED_16 1/100 P OSC Rx
11 Appendix
________________________________________________________________

0x3182 Position controller: Output signal limitation UNSIGNED_32 480000/ P OSC Rx
231
0x3183 Position: Select new actual position INTEGER_32 - P OSC Rx
0x3184 Determine target position: Mode UNSIGNED_8 - P
0x31C0 Field controller: Parameter
1: Field controller: Gain UNSIGNED_32 1/100 P
2: Field controller: Reset time UNSIGNED_16 1/10 P
0x31E0 Field weakening controller: Parameter
1: Field weakening controller: Gain UNSIGNED_32 1/1000 P
2: Field weakening controller: Reset time UNSIGNED_32 1/10 P
0x31E1 Field set value limitation UNSIGNED_16 1/100 P OSC Rx
0x31E2 DC link circuit voltage: Filter time UNSIGNED_16 1/10 P
0x31E3 Motor voltage act. value: Filter time UNSIGNED_16 1/10 P
0x31E4 Voltage reserve UNSIGNED_8 - P
Axis B - V/f operation
0x3300 VFC: V/f characteristic - shape UNSIGNED_8 - P CINH
0x3301 VFC: V/f characteristic - define reference point
1: VFC: V/f characteristic - voltage at reference UNSIGNED_16 - P
point
2: VFC: V/f characteristic - frequency at reference UNSIGNED_16 - P
point
0x3302 VFC: User-definable V/f characteristic - frequency grid points (x)
1: V/f: x1 = f01 INTEGER_16 - P
2: V/f: x2 = f02 INTEGER_16 - P
3: V/f: x3 = f03 INTEGER_16 - P
4: V/f: x4 = f04 INTEGER_16 - P
5: V/f: x5 = f05 INTEGER_16 - P
6: V/f: x6 = f06 INTEGER_16 - P
7: V/f: x7 = f07 INTEGER_16 - P
8: V/f: x8 = f08 INTEGER_16 - P
9: V/f: x9 = f09 INTEGER_16 - P
10: V/f: x10 = f10 INTEGER_16 - P
11: V/f: x11 = f11 INTEGER_16 - P
0x3303 VFC: User-definable V/f characteristic - voltage grid points (y)
0x3304 VFC: Voltage vector control - current setpoint UNSIGNED_32 1/100 P
0x3305 VFC: Voltage vector control parameter
1: VFC: Voltage vector controller - gain UNSIGNED_32 1/100 P
2: VFC: Voltage vector controller - reset time UNSIGNED_32 1/100 P
0x3306 VFC: Voltage boost UNSIGNED_16 1/10 P
11 Appendix
________________________________________________________________

0x3307 VFC: Load adjustment - parameter
1: VFC: Load adjustment - direction of rotation UNSIGNED_8 - P CINH
2: VFC: Load adjustment - value UNSIGNED_32 1/100 P
0x3308 VFC: Imax controller - parameter
1: VFC: Imax controller - gain UNSIGNED_32 1/1000 P
2: VFC: Imax controller - reset time UNSIGNED_32 1/10 P
0x3309 VFC: Slip compensation - parameter
1: VFC: Slip compensation - influence INTEGER_16 1/100 P
2: VFC: Slip compensation - filter time UNSIGNED_16 - P
0x330A VFC: Oscillation damping - parameter
1: VFC: Oscillation damping - gain INTEGER_16 - P
2: VFC: Oscillation damping - filter time UNSIGNED_16 - P
3: VFC: Oscillation damping - limitation UNSIGNED_16 1/10 P
4: VFC: Oscillation damping - final ramp UNSIGNED_8 - P
frequency
0x330B VFC: Frequency setpoint INTEGER_16 1/10 OSC Tx
0x330C VFC: Override point of field weakening INTEGER_16 1/10 P
0x3380 DC-injection braking: Current UNSIGNED_16 1/100 P
0x33A0 Flying restart: Activate UNSIGNED_8 - P
0x33A1 Flying restart: Current UNSIGNED_16 - P
0x33A2 Flying restart: Start frequency INTEGER_16 1/10 P
0x33A3 Flying restart: Integration time UNSIGNED_16 - P
0x33A4 Flying restart: Min. deviation UNSIGNED_16 1/100 P
0x33A5 Flying restart: Delay time UNSIGNED_16 - P
0x33A6 Flying restart: Result
1: Flying restart: Determined speed [rpm] INTEGER_16 - OSC Tx
2: Flying restart: Determined speed [n unit] INTEGER_32 480000/ OSC Tx
231
Axis B - motor settings
0x3400 Motor control UNSIGNED_8 - P CINH
0x3401 Motor: Common parameters
1: Motor: Number of pole pairs UNSIGNED_8 -
2: Motor: Stator resistance UNSIGNED_32 1/10000 P
3: Motor: Stator leakage inductance UNSIGNED_32 1/1000 P
4: Motor: Rated speed UNSIGNED_16 - P
5: Motor: Rated frequency UNSIGNED_16 1/10 P
6: Motor: Rated power UNSIGNED_16 1/100 P
7: Motor: Rated voltage UNSIGNED_16 - P
8: Motor: Rated cosine phi UNSIGNED_16 1/100 P
9: Motor: Insulation class UNSIGNED_8 - P
10: Motor: Designation STRING(50) - P
0x3402 Motor (ASM): Parameter
1: Motor (ASM): Rotor resistance UNSIGNED_32 1/10000 P
2: Motor (ASM): Mutual inductance UNSIGNED_32 1/10 P
3: Motor (ASM): Magnetising current UNSIGNED_16 1/100 P
0x3403 Motor (SM): Parameter
1: Motor (SM): e.m.f. constant (KELL) UNSIGNED_32 1/10 P
3: Motor (SM): Temperature coefficient - INTEGER_16 1/1000 P
magnets (kTN)
11 Appendix
________________________________________________________________

0x3404 Motor: Lss saturation characteristic - inductance grid points (y)
18: Motor: Lss saturation characteristic - UNSIGNED_16 - P
activation
0x3405 Motor: Lss saturation charcteristic - reference for UNSIGNED_16 1/10 P
current grid points (x)
0x3406 Motor (SM): Magnet characteristic (current) - grid points
0x3407 Motor (ASM): Lh saturation characteristic - inductance grid points (y)
1: Lh: y1 = L01 (x = 0.00 %) UNSIGNED_16 - P
2: Lh: y2 = L02 (x = 6.25 %) UNSIGNED_16 - P
3: Lh: y3 = L03 (x = 12.50 %) UNSIGNED_16 - P
4: Lh: y4 = L04 (x = 18.75 %) UNSIGNED_16 - P
5: Lh: y5 = L05 (x = 25.00 %) UNSIGNED_16 - P
6: Lh: y6 = L06 (x = 31.25 %) UNSIGNED_16 - P
7: Lh: y7 = L07 (x = 37.50 %) UNSIGNED_16 - P
8: Lh: y8 = L08 (x = 43.75 %) UNSIGNED_16 - P
9: Lh: y9 = L09 (x = 50.00 %) UNSIGNED_16 - P
10: Lh: y10 = L10 (x = 56.25 %) UNSIGNED_16 - P
11: Lh: y11 = L11 (x = 62.50 %) UNSIGNED_16 - P
12: Lh: y12 = L12 (x = 68.75 %) UNSIGNED_16 - P
13: Lh: y13 = L13 (x = 75.00 %) UNSIGNED_16 - P
14: Lh: y14 = L14 (x = 81.25 %) UNSIGNED_16 - P
15: Lh: y15 = L15 (x = 87.50 %) UNSIGNED_16 - P
16: Lh: y16 = L16 (x = 93.75 %) UNSIGNED_16 - P
17: Lh: y17 = L17 (x = 100.00 %) UNSIGNED_16 - P
0x3408 Motor: Motor parameter setting method UNSIGNED_8 - P
11 Appendix
________________________________________________________________

0x3412 Sensorless synchronous control: Low speed range, controlled
1: Additive accelerating current UNSIGNED_16 - P
2: Standstill holding current UNSIGNED_16 - P
0x3413 Sensorless synchronous control: Low speed UNSIGNED_8 - P
range, operating mode
Axis B - feedback system
0x3440 Encoder: Type UNSIGNED_8 - P CINH
0x3441 Hiperface: Parameter
1: Hiperface: Determined type code UNSIGNED_8 -
2: Hiperface: User def. encoder - type code UNSIGNED_8 - P CINH
3: Hiperface: User def. encoder - specifiable UNSIGNED_16 - P CINH
revolutions
4: Hiperface absolute value fault: Response UNSIGNED_8 - P
5: Hiperface: Serial number STRING(50) -
6: Hiperface: Raw data - Actual position UNSIGNED_32 - Tx
7: Hiperface: Detected Increments / revolution UNSIGNED_16 - Tx
8: Hiperface: Type code supported by firmware UNSIGNED_8 - Tx
9: Hiperface: Encoder type UNSIGNED_8 - Tx
10: Hiperface: Period length of linear encoders UNSIGNED_32 - Tx
0x3442 Encoder: Parameter
1: Encoder: Increments / revolution UNSIGNED_32 - P CINH
2: Encoder: Supply voltage UNSIGNED_8 1/10 P CINH
3: Encoder: Angle drift - Actual angle error INTEGER_16 1/10 OSC Tx
4: Encoder: Signal quality - Actual amplitude UNSIGNED_8 - OSC
0x3443 Resolver: Number of pole pairs UNSIGNED_8 - P CINH
0x3444 Resolver error compensation: Parameter
1: Resolver error compensation: Angle INTEGER_16 - P
2: Resolver error compensation: Cosine track UNSIGNED_16 - P
gain
3: Resolver error compensation: Sine track gain UNSIGNED_16 - P
0x3445 Feedback system: Response to open circuit UNSIGNED_8 - P
0x3446 Feedback system: Specifiable number of UNSIGNED_16 -
revolutions
0x3447 Feedback system: Open circuit detection UNSIGNED_8 - P
sensitivity
0x345F Feedback system: Parameter CRC UNSIGNED_32 -
Axis B - pole position identification
0x3460 Monitoring pole position identification: UNSIGNED_8 - P
Response
0x3461 Pole position identification PPI (360°)
1: PPI (360°): Current amplitude UNSIGNED_16 - P CINH
2: PPI (360°): Ramp time UNSIGNED_16 - P CINH
3: PPI (360°): Direction of rotation UNSIGNED_8 - P CINH
4: PPI (360°): Fault tolerance UNSIGNED_8 - P
5: PPI (360°): Absolute current amplitude UNSIGNED_32 1/100
0x3462 Pole position identification PPI (min. movement)
1: PPI (min. movement): Current amplitude UNSIGNED_16 - P CINH
2: PPI (min. movement): Ramp time - current UNSIGNED_16 - P CINH
3: PPI (min. movement): Gain UNSIGNED_16 - P
4: PPI (min. movement): Reset time UNSIGNED_16 1/10 P
5: PPI (min. movement): Max. move permitted UNSIGNED_8 - P
6: PPI (min. movement): Absolute current UNSIGNED_32 1/100
amplitude
11 Appendix
________________________________________________________________

0x3463 Pole position identification PPI (without movement)
1: Behaviour after switch-on UNSIGNED_8 - P CINH
Axis B - touch probe
0x3500 Touch probe (TP): Dead time compensation
0x3501 Touch probe (TP): Time stamp
Axis B - monitoring functions
0x3540 Ixt utilisation
1: Power stage utilisation (Ixt): Actual utilisation UNSIGNED_16 - OSC Tx
2: Power stage utilisation (Ixt): Warning UNSIGNED_16 - P
threshold
3: Power stage utilisation (Ixt): Error threshold UNSIGNED_16 -
4: Device utilisation (Ixt): Actual utilisation UNSIGNED_16 - OSC Tx
5: Device utilisation (Ixt): Warning threshold UNSIGNED_16 - P
6: Device utilisation (Ixt): Error limit UNSIGNED_16 -
0x3544 Motor speed monitoring
1: Motor speed monitoring: Threshold UNSIGNED_16 - P
2: Motor speed monitoring: Response UNSIGNED_8 - P
0x3545 Motor phase failure detection
2: Motor phase failure 1: Current threshold UNSIGNED_8 1/10 P
3: Motor phase failure 1: Voltage threshold UNSIGNED_16 1/10 P
0x3546 Monitoring: Ultimate motor current
1: Ultimate motor current: Threshold UNSIGNED_16 1/10 P
2: Ultimate motor current: Response UNSIGNED_8 - P
0x3549 Motor temperature monitoring: Parameter
1: Motor temperature monitoring: Sensor type UNSIGNED_8 - P
2: Motor temperature monitoring: Response UNSIGNED_8 - P
3: Motor temperature monitoring: Warning INTEGER_16 1/10 P
threshold
4: Motor temperature monitoring: Error INTEGER_16 1/10 P
threshold
5: Motor temperature monitoring: Actual motor INTEGER_16 1/10 OSC Tx
temperature
temperature
temperature
resistance
resistance
11 Appendix
________________________________________________________________

0x354C Motor utilisation (I²xt): Parameter for the thermal model
- winding
- laminations
3: Motor utilisation (I²xt): Influence of the UNSIGNED_8 - P
winding
4: Motor utilisation (I²xt): Starting value UNSIGNED_16 - P
0x354D Motor utilisation (I²xt): User-definable characteristic
1: I²xt: x1 = n01/nN (n01 ~ 0) UNSIGNED_16 - P
2: I²xt: y1 = i01/iN (x = n01 ~ 0) UNSIGNED_16 - P
3: I²xt: x2 = n02/nN (n02 = limit - reduced UNSIGNED_16 - P
cooling)
4: I²xt: y2 = i02/iN (x = n02 = limit - reduced UNSIGNED_16 - P
cooling)
5: I²xt: x3 = n03/nN (n03 = rated speed) UNSIGNED_16 - P
6: I²xt: y3 = i03/iN (x = n03 = rated speed) UNSIGNED_16 - P
7: I²xt: x4 = n04/nN (n04 = limit - field UNSIGNED_16 - P
weakening)
8: I²xt: y4 = i04/iN (x = n04 = limit - field UNSIGNED_16 - P
weakening)
0x354E Motor utilisation (I²xt): Motor overload warning UNSIGNED_16 - P
threshold
0x354F Motor utilisation (I²xt): Actual utilisation UNSIGNED_16 - OSC Tx
0x3550 Motor utilisation (I²xt): Motor overload error
1: Motor utilisation (I²xt): Response UNSIGNED_8 - P
2: Motor utilisation (I²xt): Error threshold UNSIGNED_16 - P
0x3551 Monitoring: Position and velocity error
1: Monitoring: Velocity error - error threshold UNSIGNED_32 - P
2: Monitoring: Velocity error - minimum error UNSIGNED_16 - P
time
3: Monitoring: Velocity error - response UNSIGNED_8 - P
4: Monitoring: Position error - error threshold UNSIGNED_32 - P
5: Monitoring: Position error - minimum error UNSIGNED_16 - P
time
6: Monitoring: Position error - response UNSIGNED_8 - P
0x3581 Counter: Operating time
1: Device: Operating time UNSIGNED_32 -
2: Device: Power-on time UNSIGNED_32 -
0x3582 Motor: Actual voltage - Veff, phase-phase UNSIGNED_32 1/10 OSC Tx
0x3583 Motor: Phase currents
1: Zero system current INTEGER_32 1/100 OSC Tx
2: Current - phase U INTEGER_32 1/100 OSC Tx
3: Current - phase V INTEGER_32 1/100 OSC Tx
4: Current - phase W INTEGER_32 1/100 OSC Tx
0x3584 Heatsink temperature
1: Heatsink temperature: Actual temperature INTEGER_16 1/10 OSC
2: Heatsink temperature: Warning threshold INTEGER_16 1/10 P
3: Heatsink temperature: Threshold - switch-on INTEGER_16 1/10 P
fan
4: Heatsink temperature: Threshold - switch-off INTEGER_16 1/10 P
fan
0x358A Speed monitoring: Actual speed error INTEGER_32 - OSC Tx
0x35D0 Field: Values
1: Field: Actual field UNSIGNED_16 - OSC Tx
2: Field: Setpoint field UNSIGNED_16 - OSC Tx
11 Appendix
________________________________________________________________

0x35D1 Motor: Currents
1: D current (id): Actual D current INTEGER_16 1/100 OSC Tx
2: Q current (iq): Actual Q current INTEGER_16 1/100 OSC Tx
3: D current (id): Setpoint D current INTEGER_16 1/100 OSC Tx
4: Q current (iq): Setpoint Q current INTEGER_16 1/100 OSC Tx
5: Motor current Ieff INTEGER_16 1/100 OSC Tx
0x35D2 Position: Target position interpolated INTEGER_32 - OSC Tx
0x35D3 Target speeds
1: Speed: Setpoint speed INTEGER_32 - OSC Tx
2: Speed: Setpoint speed 2 INTEGER_32 - OSC Tx
3: Speed: Limited setpoint speed INTEGER_32 - OSC Tx
0x35D4 Speed controller: Output signal
0x35D5 Target torque INTEGER_32 1/100 OSC Tx
0x35D6 Torque: Filter cascade
1: Torque: Filter cascade - starting value INTEGER_16 1/10 OSC Tx
4: Torque: Filtered setpoint torque INTEGER_16 1/10 OSC Tx
0x35D7 Voltage values
1: Actual motor voltage limit: Actual voltage INTEGER_16 1/10 OSC Tx
2: D-current controller: Output signal INTEGER_16 1/10 OSC Tx
3: Q-current controller: Output signal INTEGER_16 1/10 OSC Tx
4: D-voltage (magnetisation) INTEGER_16 1/10 OSC Tx
5: Q-voltage (torque) INTEGER_16 1/10 OSC Tx
0x35DC Slip: Actual slip INTEGER_16 1/10 OSC Tx
0x35DD Device: Actual output frequency INTEGER_16 1/10 OSC Tx
0x35DE Motor: Actual position of rotor angle INTEGER_16 - OSC Tx
0x35DF Axis: Device data
1: Axis: Rated current UNSIGNED_16 1/100 OSC Tx
2: Axis: Maximum current UNSIGNED_16 1/100 OSC Tx
UNSIGNED_16 1/10 8 Tx
5: Axis: Supported feedback type UNSIGNED_8 - Tx

0x35E0 Advanced settings
1: Current controller: Setting for identification UNSIGNED_8 -
2: Sensorless synchronous control: Signal for test UNSIGNED_8 -
mode
3: Resolver: Position detection - dynamics UNSIGNED_16 -
4: Resolver: 8 kHz safety signal UNSIGNED_8 -
5: Torque: 4 or 16 kHz interpolation UNSIGNED_8 - P
Axis A - CiA402 profile specific area
0x603F Error code UNSIGNED_16 - OSC Tx
0x6040 Controlword UNSIGNED_16 - OSC Rx
0x6041 Statusword UNSIGNED_16 - OSC Tx
0x6042 vl target velocity INTEGER_16 - OSC Rx
0x6043 vl velocity demand INTEGER_16 - OSC Tx
0x6044 vl velocity actual value INTEGER_16 - OSC Tx
11 Appendix
________________________________________________________________

0x6046 vl velocity min max amount
1: Speed: Minimum vl UNSIGNED_32 - OSC Rx
2: Speed: Maximum vl UNSIGNED_32 - OSC Rx
0x6048 vl velocity acceleration
1: Ramp: Speed interval UNSIGNED_32 - P OSC Rx
2: Ramp: Time interval UNSIGNED_16 - P OSC Rx
0x6049 vl velocity deceleration
0x605A Quick stop option code INTEGER_16 - P
0x605E Setting/response in the event of an error INTEGER_16 - P
0x6060 Modes of operation INTEGER_8 - P OSC Rx
0x6061 Modes of operation display INTEGER_8 - OSC Tx
0x6062 Position demand value INTEGER_32 - OSC
0x6063 Position actual internal value INTEGER_32 - OSC Tx
0x6064 Position actual value INTEGER_32 - OSC Tx
0x6065 Following error window UNSIGNED_32 - P OSC Rx
0x6066 Following error time out UNSIGNED_16 - P OSC Rx
0x6067 Position window UNSIGNED_32 - P
0x6068 Position window time UNSIGNED_16 - P
0x606C Velocity actual value INTEGER_32 480000/ OSC Tx
231
0x6071 Target torque INTEGER_16 1/10 OSC Rx
0x6072 Max torque UNSIGNED_16 1/10 P OSC Rx
0x6073 Max current UNSIGNED_16 1/10 P
0x6074 Target torque INTEGER_16 1/10 OSC
0x6075 Motor rated current UNSIGNED_32 1/1000 P CINH
0x6076 Motor rated torque UNSIGNED_32 1/1000 P CINH
0x6077 Torque actual value INTEGER_16 1/10 OSC Tx
0x6078 Current actual value INTEGER_16 1/10 OSC Tx
0x6079 DC bus: Actual voltage UNSIGNED_32 1/1000 OSC Tx
0x607A Position demand value INTEGER_32 - OSC Rx
0x607E Polarity UNSIGNED_8 - P CINH
0x6080 Max motor speed UNSIGNED_32 - P OSC Rx
0x6085 Quick stop deceleration UNSIGNED_32 - P
0x608F Position encoder resolution
1: Encoder increments UNSIGNED_32 - P CINH
2: Motor revolutions UNSIGNED_32 - P CINH
0x6090 Velocity encoder resolution
1: Encoder increments per second UNSIGNED_32 - P CINH
2: Motor revolutions per second UNSIGNED_32 - P CINH
0x60B1 Velocity offset INTEGER_32 480000/ P OSC Rx
231
0x60B2 Torque offset INTEGER_16 1/10 P OSC Rx
0x60B8 Touch probe function UNSIGNED_16 - P OSC Rx
0x60B9 Touch probe status UNSIGNED_16 - OSC Tx
0x60BA Touch probe pos1 pos value INTEGER_32 - OSC Tx
0x60BB Touch probe pos1 neg value INTEGER_32 - OSC Tx
0x60BC Touch probe pos2 pos value INTEGER_32 - OSC Tx
0x60BD Touch probe pos2 neg value INTEGER_32 - OSC Tx
0x60C0 Interpolation sub mode select INTEGER_16 - P Rx
11 Appendix
________________________________________________________________

0x60C2 Interpolation time period
1: Interpolation time period value UNSIGNED_8 - P
2: Interpolation time index INTEGER_8 - P
0x60E0 Positive torque limit value UNSIGNED_16 1/10 P OSC Rx
0x60E1 Negative torque limit value UNSIGNED_16 1/10 P OSC Rx
0x60F4 Following error actual value INTEGER_32 - OSC Tx
0x60FA Control effort INTEGER_32 480000/ OSC Tx
231
0x60FC Position demand internal value INTEGER_32 - OSC
0x60FD Digital inputs UNSIGNED_32 - OSC Tx
0x60FF Target velocity INTEGER_32 480000/ OSC Rx
231
0x6404 Motor manufacturer STRING(50) - P
0x6502 Supported drive modes UNSIGNED_32 -
0x67FF ECAT: Device Profile Number UNSIGNED_32 -
Axis B - CiA402 profile specific area
0x683F Error code UNSIGNED_16 - OSC Tx
0x6840 Controlword UNSIGNED_16 - OSC Rx
0x6841 Statusword UNSIGNED_16 - OSC Tx
0x6842 vl target velocity INTEGER_16 - OSC Rx
0x6843 vl velocity demand INTEGER_16 - OSC Tx
0x6844 vl velocity actual value INTEGER_16 - OSC Tx
0x6846 vl velocity min max amount
1: Speed: Minimum vl UNSIGNED_32 - OSC Rx
2: Speed: Maximum vl UNSIGNED_32 - OSC Rx
0x6848 vl velocity acceleration
0x6849 vl velocity deceleration
0x685A Quick stop option code INTEGER_16 - P
0x685E Setting/response in the event of an error INTEGER_16 - P
0x6860 Modes of operation INTEGER_8 - P OSC Rx
0x6861 Modes of operation display INTEGER_8 - OSC Tx
0x6862 Position demand value INTEGER_32 - OSC
0x6863 Position actual internal value INTEGER_32 - OSC Tx
0x6864 Position actual value INTEGER_32 - OSC Tx
0x6865 Following error window UNSIGNED_32 - P OSC Rx
0x6866 Following error time out UNSIGNED_16 - P OSC Rx
0x6867 Position window UNSIGNED_32 - P
0x6868 Position window time UNSIGNED_16 - P
0x686C Velocity actual value INTEGER_32 480000/ OSC Tx
231
0x6871 Target torque INTEGER_16 1/10 OSC Rx
0x6872 Max torque UNSIGNED_16 1/10 P OSC Rx
0x6873 Max current UNSIGNED_16 1/10 P
0x6874 Target torque INTEGER_16 1/10 OSC
0x6875 Motor rated current UNSIGNED_32 1/1000 P CINH
0x6876 Motor rated torque UNSIGNED_32 1/1000 P CINH
0x6877 Torque actual value INTEGER_16 1/10 OSC Tx
0x6878 Current actual value INTEGER_16 1/10 OSC Tx
11 Appendix
________________________________________________________________

0x6879 DC bus: Actual voltage UNSIGNED_32 1/1000 OSC Tx
0x687A Position demand value INTEGER_32 - OSC Rx
0x687E Polarity UNSIGNED_8 - P CINH
0x6880 Max motor speed UNSIGNED_32 - P OSC Rx
0x6885 Quick stop deceleration UNSIGNED_32 - P
0x688F Position encoder resolution
1: Encoder increments UNSIGNED_32 - P CINH
2: Motor revolutions UNSIGNED_32 - P CINH
0x6890 Velocity encoder resolution
1: Encoder increments per second UNSIGNED_32 - P CINH
2: Motor revolutions per second UNSIGNED_32 - P CINH
0x68B1 Velocity offset INTEGER_32 480000/ P OSC Rx
231
0x68B2 Torque offset INTEGER_16 1/10 P OSC Rx
0x68B8 Touch probe function UNSIGNED_16 - P OSC Rx
0x68B9 Touch probe status UNSIGNED_16 - OSC Tx
0x68BA Touch probe pos1 pos value INTEGER_32 - OSC Tx
0x68BB Touch probe pos1 neg value INTEGER_32 - OSC Tx
0x68BC Touch probe pos2 pos value INTEGER_32 - OSC Tx
0x68BD Touch probe pos2 neg value INTEGER_32 - OSC Tx
0x68C0 Interpolation sub mode select INTEGER_16 - P Rx
0x68C2 Interpolation time period
1: Interpolation time period value UNSIGNED_8 - P
2: Interpolation time index INTEGER_8 - P
0x68E0 Positive torque limit value UNSIGNED_16 1/10 P OSC Rx
0x68E1 Negative torque limit value UNSIGNED_16 1/10 P OSC Rx
0x68F4 Following error actual value INTEGER_32 - OSC Tx
0x68FA Control effort INTEGER_32 480000/ OSC Tx
231
0x68FC Position demand internal value INTEGER_32 - OSC
0x68FD Digital inputs UNSIGNED_32 - OSC Tx
0x68FF Target velocity INTEGER_32 480000/ OSC Rx
231
0x6C04 Motor manufacturer STRING(50) - P
0x6D02 Supported drive modes UNSIGNED_32 -
0x6FFF ECAT: Device Profile Number UNSIGNED_32 -
11 Appendix
11.2 Structure of the parameter set file
________________________________________________________________
The parameter set file is designed as an extendable file. This means that it is possible to add header
components later on without interrupting previous algorithms. Therefore the file is divided into
three sections:
1. File header
• The file header contains important information on the file as a whole, including its size, the
checksum, the file header type, the number of data headers, and their position from the start
of the file.
2. Data header
• The data header contains information on a specific part of the data within the data area.
These are for instance the data type and data interpretation and thus the type of data header,
the data offset in the file, and the size of the data packet.
3. Data
• The data is a densely packed arrangement of data, the sense of which only becomes clear
when the type of data header specified is known.
11.2.1 File header
Byte offset
0 4 8 12 16 20 24 28 32
Type Version Size Manufactu Product Version Data Data CRC

rer start size
Byte Meaning Info

offset
0 File type File identification
Currently only the following values are defined:
• 2: Storage parameter set (the file exclusively contains
parameters provided for persistence).
• 3: Complete parameter set (the file contains all
parameters).
4 File version Version number of the file
8 File size Total size of the file in [bytes]
12 Manufacturer's identification mark Identification of the device which this parameter set file
according to object directory belongs to. If the values do not comply with those of the
object directory during the import, an attempt to
16 Product ID according to object directory
execute the import is nevertheless carried out.
20 Version identifier of the object directory Parameters which could not be imported can be
identified later by means of the parameter set error
report.
24 Start of the data description area Offset of the data description area in [bytes]
(offset from the start of the file).
28 Size of the data description area Size of the data description area in [bytes]
32 CRC32 (as defined in IEEE 802.3) Cyclic Redundancy Check (CRC32) across the entire file; 0
must be entered in the checksum field at the time of
calculation.
Cyclic redundancy check (CRC) - parameter set
comparison on the basis of the checksum ( 10)
11 Appendix
________________________________________________________________
11.2.2 Data header
Byte offset
0 4 8
... Type Data start Data size ...
Byte Meaning Info

offset
0 Type of the data area Identification of the data area
Currently only the following values are defined:
• 1: The data area contains parameter values.
"PAR_ParamHeader" header type
• 2: The data area contains error messages of the last
import.
"PAR_ParamErrorHeader" header type
4 Start of the data area Offset of the data area in [bytes]
(offset from the start of the file).
8 Size of the data area Size of the data area in [bytes]
"PAR_ParamHeader" header type

If the identification "1" is given for the data area type, the parameter values are successively
arranged in the following layout within the data area:
Byte offset
0 2 4 6
... Data type size Index Subindex Value ...
Byte Meaning Info

offset
0 Data type size of the parameter Number of bytes which are assigned by the parameter
value.
2 Index of the parameter object Index of the parameter in the object directory which the
following parameter value belongs to.
4 Subindex of the parameter object Subindex of the parameter in the object directory which
the following parameter value belongs to.
6 Parameter value The parameter value assigns the number of data bytes
which are listed under "Data type size of the parameter".
At least, however, always one byte.
11 Appendix
________________________________________________________________
"PAR_ParamErrorHeader" header type

If the identification "2" is given for the data area type, the error messages are successively arranged
in the following layout within the data area:
Byte offset
0 4 6
... Error code Index Subindex ...
Byte Meaning Info

offset
0 Error code in accordance with CiA301 or SDO abort code which was generated when the object
EtherCAT with the following index/subindex combination was
accessed.
SDO abort codes (Abort codes) ( 16)
4 Index of the parameter object Index of the parameter in the object directory which the
error code belongs to.
6 Subindex of the parameter object Subindex of the parameter in the object directory which
the error code belongs to.
11 Appendix
11.3 Communication objects
________________________________________________________________
This chapter describes the "invisible" communication objects of the i700 servo inverter. This
information is important for the integration of the controller with an external control.

All objects are of "RECORD" data type.
Object Name
Axis A Axis B
PDO mapping
0x1600 0x1610 RPDO-->Axis A/B: Cyclic sync position mode (csp)
0x1601 0x1611 RPDO-->Axis A/B: Cyclic sync torque mode (cst)
0x1602 0x1612 RPDO-->Axis A/B: Cyclic sync velocity mode (csv)
0x1603 0x1613 RPDO-->Axis A/B: Velocity mode (vl)
0x1604 0x1614 RPDO-->Axis A/B: Touch probe (TP)
0x1605 0x1615 RPDO-->Axis A/B: Freely configurable (user)
0x1606 0x1616 RPDO-->Axis A/B: Torque limits
0x1607 0x1617 RPDO-->Axis A/B: Speed limit values
0x1A00 0x1A10 Axis A/B-->TPDO: Cyclic sync position mode (csp)
0x1A01 0x1A11 Axis A/B-->TPDO: Cyclic sync torque mode (cst)
0x1A02 0x1A12 Axis A/B-->TPDO: Cyclic sync velocity mode (csv)
0x1A03 0x1A13 Axis A/B-->TPDO: Velocity mode (vl)
0x1A04 0x1A14 Axis A/B-->TPDO: Touch probe (TP)
0x1A05 0x1A15 Axis A/B-->TPDO: Freely configurable (user)
0x1A06 0x1A16 Axis A/B-->TPDO: Additional status information
Sync manager
0x1C00 Sync Manager: Communication type
0x1C12 Sync Manager 2 (RPDO-->Device): PDO mapping
0x1C13 Sync Manager 3 (RPDO-->Device): PDO mapping
0x1C32 Sync Manager 2 (RPDO-->Device): Parameter
0x1C33 Sync Manager 3 (Device-->TPDO): Parameter
0x1600 - RPDO-->Axis A: Cyclic sync position mode (csp)
Fixed, preconfigured PDO mapping object for "Cyclic sync position mode"

1 (csp) RPDO-->A: 0x6040 (Controlword) 0x60400010 UNSIGNED_32
2 (csp) RPDO-->A: 0x2830 (Lenze control word) 0x28300010 UNSIGNED_32
3 (csp) RPDO-->A: 0x6060 (Modes of operation) 0x60600008 UNSIGNED_32
4 (csp) RPDO-->A: 0x60B2 (Torque: Offset) 0x60B20010 UNSIGNED_32
5 (csp) RPDO-->A: 0x607A (Target position) 0x607A0020 UNSIGNED_32
6 (csp) RPDO-->A: 0x60B1 (Velocity offset) 0x60B10020 UNSIGNED_32
7 (csp) RPDO-->A: 0x2902 (speed controller - load starting value) 0x29020010 UNSIGNED_32
11 Appendix
________________________________________________________________
0x1601 - RPDO-->Axis A: Cyclic sync torque mode (cst)
Fixed, preconfigured PDO mapping object for "Cyclic sync torque mode"

1 (cst) RPDO-->A: 0x6040 (Controlword) 0x60400010 UNSIGNED_32
2 (cst) RPDO-->A: 0x2830 (Lenze control word) 0x28300010 UNSIGNED_32
3 (cst) RPDO-->A: 0x6060 (Modes of operation) 0x60600008 UNSIGNED_32
4 (cst) RPDO-->A: 0x60B2 (Torque: Offset) 0x60B20010 UNSIGNED_32
5 (cst) RPDO-->A: 0x6071 (Target torque) 0x60710010 UNSIGNED_32
6 (cst) RPDO-->A: 0x2946/1 (upper speed limit) 0x29460120 UNSIGNED_32
7 (cst) RPDO-->A: 0x2946/2 (lower speed limit) 0x29460220 UNSIGNED_32
0x1602 - RPDO-->Axis A: Cyclic sync velocity mode (csv)
Fixed, preconfigured PDO mapping object for "Cyclic sync velocity mode"

1 (csv) RPDO-->A: 0x6040 (Controlword) 0x60400010 UNSIGNED_32
2 (csv) RPDO-->A: 0x2830 (Lenze control word) 0x28300010 UNSIGNED_32
3 (csv) RPDO-->A: 0x6060 (Modes of operation) 0x60600008 UNSIGNED_32
4 (csv) RPDO-->A: 0x60B2 (Torque: Offset) 0x60B20010 UNSIGNED_32
5 (csv) RPDO-->A: 0x60FF (Target velocity) 0x60FF0020 UNSIGNED_32
0x1603 - RPDO-->Axis A: Velocity mode (vl)
Fixed, preconfigured PDO mapping object for "Velocity mode"

1 (vl) RPDO-->A: 0x6040 (Controlword) 0x60400010 UNSIGNED_32
2 (vl) RPDO-->A: 0x2830 (Lenze control word) 0x28300010 UNSIGNED_32
3 (vl) RPDO-->A: 0x6060 (Modes of operation) 0x60600008 UNSIGNED_32
4 (vl) RPDO-->A: 0x6042 (vl target velocity) 0x60420010 UNSIGNED_32
0x1604 - RPDO-->Axis A: Touch probe (TP)
Fixed, preconfigured PDO mapping object for touch probe detection

1 (TP) RPDO-->A: 0x60B8 (Touch probe function) 0x60B80010 UNSIGNED_32
11 Appendix
________________________________________________________________
0x1605 - RPDO-->Axis A: Freely configurable (user)
PDO mapping object freely configurable by the user for process data from the controller to the servo inverter

1 (user) RPDO-->A: xxxx freely configurable object 1 0x00000000 UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX
0x1606 - RPDO-->Axis A: Torque limits
Fixed, preconfigured PDO mapping object for torque limits

1 (torque) RPDO-->A: 0x60E0 (Positive torque limit value) 0x60E00010 UNSIGNED_32
2 (torque) RPDO-->A: 0x60E1 (Negative torque limit value) 0x60E10010 UNSIGNED_32
0x1607 - RPDO --> Axis A: Speed Limits

1 (Speed) RPDO-->A: 0x2946/1 (upper speed limit) 692453664 UNSIGNED_32
2 (Speed) RPDO-->A: 0x2946/2 Lower speed limit 692453920 UNSIGNED_32
0x1610 - RPDO-->Axis B: Cyclic sync position mode (csp)

1 (csp) RPDO-->B: 0x6840 (Controlword) 0x68400010 UNSIGNED_32
2 (csp) RPDO-->B: 0x3030 (Lenze control word) 0x30300010 UNSIGNED_32
3 (csp) RPDO-->B: 0x6860 (Modes of operation) 0x68600008 UNSIGNED_32
4 (csp) RPDO-->B: 0x68B2 (Torque: Offset) 0x68B20010 UNSIGNED_32
5 (csp) RPDO-->B: 0x687A (Target position) 0x687A0020 UNSIGNED_32
6 (csp) RPDO-->B: 0x68B1 (Velocity offset) 0x68B10020 UNSIGNED_32
7 (csp) RPDO-->B: 0x3102 speed controller - load starting value 0x31020010 UNSIGNED_32
11 Appendix
________________________________________________________________
0x1611 - RPDO-->Axis B: Cyclic sync torque mode (cst)

1 (cst) RPDO-->B: 0x6840 (Controlword) 0x68400010 UNSIGNED_32
2 (cst) RPDO-->B: 0x3030 (Lenze control word) 0x30300010 UNSIGNED_32
3 (cst) RPDO-->B: 0x6860 (Modes of operation) 0x68600008 UNSIGNED_32
4 (cst) RPDO-->B: 0x68B2 (Torque: Offset) 0x68B20010 UNSIGNED_32
5 (cst) RPDO-->B: 0x6871 (Target torque) 0x68710010 UNSIGNED_32
6 (cst) RPDO-->B: 0x3146/1 upper speed limit 0x31460120 UNSIGNED_32
7 (cst) RPDO-->B: 0x3146/2 lower speed limit 0x31460220 UNSIGNED_32
0x1612 - RPDO-->Axis B: Cyclic sync velocity mode (csv)

1 (csv) RPDO-->B: 0x6840 (Controlword) 0x68400010 UNSIGNED_32
2 (csv) RPDO-->B: 0x3030 (Lenze control word) 0x30300010 UNSIGNED_32
3 (csv) RPDO-->B: 0x6860 (Modes of operation) 0x68600008 UNSIGNED_32
4 (csv) RPDO-->B: 0x68B2 (Torque: Offset) 0x68B20010 UNSIGNED_32
5 (csv) RPDO-->B: 0x68FF (Target velocity) 0x68FF0020 UNSIGNED_32
0x1613 - RPDO-->Axis B: Velocity mode (vl)

1 (vl) RPDO-->B: 0x6840 (Controlword) 0x68400010 UNSIGNED_32
2 (vl) RPDO-->B: 0x3030 (Lenze control word) 0x30300010 UNSIGNED_32
3 (vl) RPDO-->B: 0x6860 (Modes of operation) 0x68600008 UNSIGNED_32
4 (vl) RPDO-->B: 0x6842 (vl target velocity) 0x68420010 UNSIGNED_32
0x1614 - RPDO-->Axis B: Touch probe (TP)

1 (TP) RPDO-->B: 0x68B8 (Touch probe function) 0x68B80010 UNSIGNED_32
11 Appendix
________________________________________________________________
0x1615 - RPDO-->Axis B: Freely configurable (user)
PDO mapping object freely configurable by the user for process data from the controller to the servo inverter i700

1 (user) RPDO-->B: xxxx freely configurable object 1 0x00000000 UNSIGNED_32
0x1616 - RPDO-->Axis B: Torque limits
Fixed, preconfigured PDO mapping object for torque limits

1 (torque) RPDO-->B: 0x68E0 (Positive torque limit value) 0x68E00010 UNSIGNED_32
2 (torque) RPDO-->B: 0x68E1 (Negative torque limit value) 0x68E10010 UNSIGNED_32
0x1617 - RPDO --> Axis B: Speed limits

1 (Speed) RPDO-->B: 0x3146/1 (upper speed limit) 826671392 UNSIGNED_32
2 (Speed) RPDO-->B: 0x3146/2 (Lower speed limit) 826671648 UNSIGNED_32
0x1A00 - Axis A-->TPDO: Cyclic sync position mode (csp)

1 (csp) A-->TPDO: 0x6041 (Statusword) 0x60410010 UNSIGNED_32
2 (csp) A-->TPDO: 0x2831 (Lenze status word) 0x28310010 UNSIGNED_32
3 (csp) A-->TPDO: 0x6061 (Modes of operation display) 0x60610008 UNSIGNED_32
4 (csp) A-->TPDO: 0x603F (Error code) 0x603F0010 UNSIGNED_32
5 (csp) A-->TPDO: 0x606C (Velocity actual value) 0x606C0020 UNSIGNED_32
6 (csp) A-->TPDO: 0x6077 (Torque actual value) 0x60770010 UNSIGNED_32
7 (csp) A-->TPDO: 0x6064 (Position actual value) 0x60640020 UNSIGNED_32
8 (csp) A-->TPDO: 0x60F4 (Following error actual value) 0x60F40020 UNSIGNED_32
11 Appendix
________________________________________________________________
0x1A01 - Axis A-->TPDO: Cyclic sync torque mode (cst)

1 (cst) A-->TPDO: 0x6041 (Statusword) 0x60410010 UNSIGNED_32
2 (cst) A-->TPDO: 0x2831 (Lenze status word) 0x28310010 UNSIGNED_32
3 (cst) A-->TPDO: 0x6061 (Modes of operation display) 0x60610008 UNSIGNED_32
4 (cst) A-->TPDO: 0x603F (Error code) 0x603F0010 UNSIGNED_32
5 (cst) A-->TPDO: 0x606C (Velocity actual value) 0x606C0020 UNSIGNED_32
6 (cst) A-->TPDO: 0x6077 (Torque actual value) 0x60770010 UNSIGNED_32
0x1A02 - Axis A-->TPDO: Cyclic sync velocity mode (csv)

1 (csv) A-->TPDO: 0x6041 (Statusword) 0x60410010 UNSIGNED_32
2 (csv) A-->TPDO: 0x2831 (Lenze status word) 0x28310010 UNSIGNED_32
3 (csv) A-->TPDO: 0x6061 (Modes of operation display) 0x60610008 UNSIGNED_32
4 (csv) A-->TPDO: 0x603F (Error code) 0x603F0010 UNSIGNED_32
5 (csv) A-->TPDO: 0x606C (Velocity actual value) 0x606C0020 UNSIGNED_32
6 (csv) A-->TPDO: 0x6077 (Torque actual value) 0x60770010 UNSIGNED_32
7 (csv) A-->TPDO: 0x6064 (Position actual value) 0x60640020 UNSIGNED_32
0x1A03 - Axis A-->TPDO: Velocity mode (vl)

1 (vl) A-->TPDO: 0x6041 (Statusword) 0x60410010 UNSIGNED_32
2 (vl) A-->TPDO: 0x2831 (Lenze status word) 0x28310010 UNSIGNED_32
3 (vl) A-->TPDO: 0x6061 (Modes of operation display) 0x60610008 UNSIGNED_32
4 (vl) A-->TPDO: 0x603F (Error code) 0x603F0010 UNSIGNED_32
5 (vl) A-->TPDO: 0x6044 (vl velocity actual value) 0x60440010 UNSIGNED_32
0x1A04 - Axis A-->TPDO: Touch probe (TP)
11 Appendix
________________________________________________________________

1 (TP) A-->TPDO: 0x60B9 (Touch probe status) 0x60B90010 UNSIGNED_32
2 (TP) A-->TPDO: 0x60BA (Touch probe pos1 pos value) 0x60BA0020 UNSIGNED_32
3 (TP) A-->TPDO: 0x60BB (Touch probe pos1 neg value) 0x60BB0020 UNSIGNED_32
4 (TP) A-->TPDO: 0x60BC (Touch probe pos2 pos value) 0x60BC0020 UNSIGNED_32
5 (TP) A-->TPDO: 0x60BD (Touch probe pos2 neg value) 0x60BD0020 UNSIGNED_32
0x1A05 - Axis A-->TPDO: Freely configurable (user)
PDO mapping object freely configurable by the user for process data from the i700 servo inverter to the controller

1 (user) A-->TPDO: xxxx freely configurable object 1 0x00000000 UNSIGNED_32
0x1A06 - Axis A-->TPDO: Additional status information

1 (State) A-->TPDO: 0x2833 Lenze Statusword 2 674430992 UNSIGNED_32
2 (State) A-->TPDO: 0x60FD Digital inputs 1627193376 UNSIGNED_32
3 (State) A-->TPDO: xxxx Free config. object 1 0 UNSIGNED_32
0x1A10 - Axis B-->TPDO: Cyclic sync position mode (csp)
11 Appendix
________________________________________________________________

1 (csp) B-->TPDO: 0x6841 (Statusword) 0x68410010 UNSIGNED_32
2 (csp) B-->TPDO: 0x3031 (Lenze status word) 0x30310010 UNSIGNED_32
3 (csp) B-->TPDO: 0x6861 (Modes of operation display) 0x68610008 UNSIGNED_32
4 (csp) B-->TPDO: 0x683F (Error code) 0x683F0010 UNSIGNED_32
5 (csp) B-->TPDO: 0x686C (Velocity actual value) 0x686C0020 UNSIGNED_32
6 (csp) B-->TPDO: 0x6877 (Torque actual value) 0x68770010 UNSIGNED_32
7 (csp) B-->TPDO: 0x6864 (Position actual value) 0x68640020 UNSIGNED_32
8 (csp) B-->TPDO: 0x68F4 (Following error actual value) 0x68F40020 UNSIGNED_32
0x1A11 - Axis B-->TPDO: Cyclic sync torque mode (cst)

1 (cst) B-->TPDO: 0x6841 (Statusword) 0x68410010 UNSIGNED_32
2 (cst) B-->TPDO: 0x3031 (Lenze status word) 0x30310010 UNSIGNED_32
3 (cst) B-->TPDO: 0x6861 (Modes of operation display) 0x68610008 UNSIGNED_32
4 (cst) B-->TPDO: 0x683F (Error code) 0x683F0010 UNSIGNED_32
5 (cst) B-->TPDO: 0x686C (Velocity actual value) 0x686C0020 UNSIGNED_32
6 (cst) B-->TPDO: 0x6877 (Torque actual value) 0x68770010 UNSIGNED_32
0x1A12 - Axis B-->TPDO: Cyclic sync velocity mode (csv)

1 (csv) B-->TPDO: 0x6841 (Statusword) 0x68410010 UNSIGNED_32
2 (csv) B-->TPDO: 0x3031 (Lenze status word) 0x30310010 UNSIGNED_32
3 (csv) B-->TPDO: 0x6861 (Modes of operation display) 0x68610008 UNSIGNED_32
4 (csv) B-->TPDO: 0x683F (Error code) 0x683F0010 UNSIGNED_32
5 (csv) B-->TPDO: 0x686C (Velocity actual value) 0x686C0020 UNSIGNED_32
6 (csv) B-->TPDO: 0x6877 (Torque actual value) 0x68770010 UNSIGNED_32
7 (csv) B-->TPDO: 0x6864 (Position actual value) 0x68640020 UNSIGNED_32
0x1A13 - Axis B-->TPDO: Velocity mode (vl)
11 Appendix
________________________________________________________________

1 (vl) B-->TPDO: 0x6841 (Statusword) 0x68410010 UNSIGNED_32
2 (vl) B-->TPDO: 0x3031 (Lenze status word) 0x30310010 UNSIGNED_32
3 (vl) B-->TPDO: 0x6861 (Modes of operation display) 0x68610008 UNSIGNED_32
4 (vl) B-->TPDO: 0x683F (Error code) 0x683F0010 UNSIGNED_32
5 (vl) B-->TPDO: 0x6844 (vl velocity actual value) 0x68440010 UNSIGNED_32
0x1A14 - Axis B-->TPDO: Touch probe (TP)

1 (TP) B-->TPDO: 0x68B9 (Touch probe status) 0x68B90010 UNSIGNED_32
2 (TP) B-->TPDO: 0x68BA (Touch probe pos1 pos value) 0x68BA0020 UNSIGNED_32
3 (TP) B-->TPDO: 0x68BB (Touch probe pos1 neg value) 0x68BB0020 UNSIGNED_32
4 (TP) B-->TPDO: 0x68BC (Touch probe pos2 pos value) 0x68BC0020 UNSIGNED_32
5 (TP) B-->TPDO: 0x68BD (Touch probe pos2 neg value) 0x68BD0020 UNSIGNED_32
0x1A15 - Axis B-->TPDO: Freely configurable (user)
PDO mapping object freely configurable by the user for process data from the i700 servo inverter to the controller

1 (user) B-->TPDO: xxxx freely configurable object 1 0x00000000 UNSIGNED_32
11 Appendix
________________________________________________________________
0x1A16 - Axis B-->TPDO: Additional status information

1 (State) B-->TPDO: 0x3033 Lenze Statusword 2 808648720 UNSIGNED_32
2 (State) B-->TPDO: 0x68FD Digital inputs 1761411104 UNSIGNED_32
3 (State) B-->TPDO: xxxx Free config. object 1 0 UNSIGNED_32
0x1C00 - Sync Manager: Communication type

1 SM1: Communication type 1: Receive mailbox UNSIGNED_8
2 SM2: Communication type 2: Transmit mailbox UNSIGNED_8
3 SM3: Communication type 3: Transit process data UNSIGNED_8
4 SM4: Communication type 4: Receive process data UNSIGNED_8

1 SM2 (RPDO-->Device): Assignment PDO 1 0x1600 UNSIGNED_16
9 SM2 (RPDO-->Device): PDO assignment 9 0x0000 UNSIGNED_16
10 SM2 (RPDO-->Device): PDO assignment 10 0x0000 UNSIGNED_16
11 Appendix
________________________________________________________________

1 SM3 (Device-->TPDO): Assignment PDO 1 0x1A00 UNSIGNED_16
7 SM3 (Device-->TPDO): PDO assignment 7 0x0000 UNSIGNED_16
8 SM3 (Device-->TPDO): PDO assignment 8 0x0000 UNSIGNED_16
0x1C32 - Sync Manager 2 (RPDO-->Device): Parameter

1 SM2 (RPDO-->Device): Sync type 0: Free Run UNSIGNED_16
2 SM2 (RPDO-->Device): Cycle time 250000 ns UNSIGNED_32
3 SM2 (RPDO-->Device): Shift time 0 ns UNSIGNED_32
4 SM2 (RPDO-->Device): Supported sync types 0x0825 UNSIGNED_16
5 SM2 (RPDO-->Device): Min. cycle time 125000 ns UNSIGNED_32
6 SM2 (RPDO-->Device): Signal processing time 0 ns UNSIGNED_32
9 SM2 (RPDO-->Device): Delay time 0 ns UNSIGNED_32
11 SM2 (RPDO-->Device): Counter - missing events UNSIGNED_16
12 SM2 (RPDO-->Device): Cycle time too short UNSIGNED_16
32 SM2 (RPDO-->Device): Sync error BOOL
0x1C33 - Sync Manager 3 (Device-->TPDO): Parameter

1 SM3 (Device-->TPDO): Sync type 0: Free Run UNSIGNED_16
2 SM3 (Device-->TPDO): Cycle time 250000 ns UNSIGNED_32
3 SM3 (Device-->TPDO): Shift time 62500 ns UNSIGNED_32
4 SM3 (Device-->TPDO): Supported sync types 0x0825 UNSIGNED_16
5 SM3 (Device-->TPDO): Min. cycle time 125000 ns UNSIGNED_32
6 SM3 (Device-->TPDO): Signal processing time 0 ns UNSIGNED_32
9 SM3 (Device-->TPDO): Delay time 0 ns UNSIGNED_32
11 SM3 (Device-->TPDO): Counter - missing events UNSIGNED_16
12 SM3 (Device-->TPDO): Cycle time too short UNSIGNED_16
32 SM3 (Device-->TPDO): Sync error BOOL
11 Appendix
11.4 Licences
________________________________________________________________
11.4 Licences
lwIP - TCP/IP stack

Copyright (c) 2001-2004 Swedish Institute of Computer Science.
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted
provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and
the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions
and the following disclaimer in the documentation and/or other materials provided with the
distribution.
3. The name of the author may not be used to endorse or promote products derived from this
software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE AUTHOR "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
SUCH DAMAGE.
Index
________________________________________________________________
Figures 0x2540 49
0x1000 299 0x2580 53
0x1001 299 0x2820 171
0x1008 299 0x2822 60
0x1009 299 0x2823 60
0x100A 299 0x2824 29
0x1018 299 0x2825 61
0x10F1 46 0x2826 283
0x10F3 284 0x2830 29
0x10F8 300 0x2831 30
0x1600 335 0x2832 61
0x1601 336 0x2833 30
0x1602 336 0x2835 64
0x1603 336 0x2836 71
0x1604 336 0x2840 283
0x1605 337 0x2841 283
0x1606 337 0x284F 280
0x1607 337 0x2900 124
0x1610 337 0x2901 124
0x1611 338 0x2902 124
0x1612 338 0x2903 124
0x1613 338 0x2904 125
0x1614 338 0x2910 122
0x1615 339 0x2939 165
0x1616 339 0x2941 117
0x1617 339 0x2942 117
0x1A00 339 0x2943 117
0x1A01 340 0x2944 144
0x1A02 340 0x2945 142
0x1A03 340 0x2946 235
0x1A04 340 0x2947 78
0x1A05 341 0x2980 126
0x1A06 341 0x2981 126
0x1A10 341 0x2982 126
0x1A11 342 0x2983 126
0x1A12 342 0x2984 127
0x1A13 342 0x29C0 128
0x1A14 343 0x29E0 129
0x1A15 343 0x29E1 130
0x1A16 344 0x29E2 130
0x1C00 344 0x29E3 130
0x1C12 344 0x29E4 130
0x1C13 345 0x2B00 147
0x1C32 345 0x2B01 148
0x1C33 345 0x2B02 149
0x2000 47 0x2B03 149
0x2001 47 0x2B04 150
0x2020 33 0x2B05 150
0x2021 48 0x2B06 152
0x2022 48 0x2B07 152
0x2030 22 0x2B08 154
0x2100 47 0x2B09 155
0x2500 245 0x2B0A 157
Index
________________________________________________________________
0x2B0B 158 0x2DD4 304

0x2B0C 158 0x2DD5 304
0x2B80 163 0x2DD6 304
0x2BA0 159 0x2DD7 305
0x2BA1 161 0x2DDC 306
0x2BA2 161 0x2DDD 306
0x2BA3 161 0x2DDE 306
0x2BA4 161 0x2DDF 307
0x2BA5 161 0x2DE0 77
0x2BA6 162 0x3020 171
0x2C00 73 0x3022 60
0x2C01 85 0x3023 60
0x2C02 87 0x3024 29
0x2C03 87 0x3025 61
0x2C04 133 0x3026 283
0x2C05 134 0x3030 29
0x2C06 138 0x3031 30
0x2C07 140 0x3032 61
0x2C08 79 0x3033 30
0x2C40 93 0x3035 64
0x2C41 97 0x3036 71
0x2C42 93 0x3040 283
0x2C43 91 0x3041 283
0x2C44 92 0x304F 280
0x2C45 90 0x3100 124
0x2C46 90 0x3101 124
0x2C5F 91 0x3102 124
0x2C60 101 0x3103 124
0x2C61 106 0x3104 125
0x2C62 110 0x3110 122
0x2C63 114 0x3139 165
0x2D00 246 0x3141 117
0x2D01 249 0x3142 117
0x2D40 254 0x3143 117
0x2D44 269 0x3144 144
0x2D45 270 0x3145 142
0x2D46 274 0x3146 235
0x2D49 266 0x3147 78
0x2D4C 258 0x3180 126
0x2D4D 261 0x3181 126
0x2D4E 257 0x3182 126
0x2D4F 257 0x3183 126
0x2D50 257 0x3184 127
0x2D51 275 0x31C0 128
0x2D81 300 0x31E0 129
0x2D82 300 0x31E1 130
0x2D83 300 0x31E2 130
0x2D84 255 0x31E3 130
0x2D8A 301 0x31E4 130
0x2DD0 302 0x3300 147
0x2DD1 302 0x3301 148
0x2DD2 303 0x3302 149
0x2DD3 303 0x3303 149
Index
________________________________________________________________
0x3304 150 0x3584 255

0x3305 150 0x358A 301
0x3306 152 0x35D0 302
0x3307 152 0x35D1 302
0x3308 154 0x35D2 303
0x3309 155 0x35D3 303
0x330A 157 0x35D4 304
0x330B 158 0x35D5 304
0x330C 158 0x35D6 304
0x3380 163 0x35D7 305
0x33A0 159 0x35DC 306
0x33A1 161 0x35DD 306
0x33A2 161 0x35DE 306
0x33A3 161 0x35DF 307
0x33A4 161 0x35E0 77
0x33A5 161 0x603F 280
0x33A6 162 0x6040 179
0x3400 73 0x6041 179
0x3401 85 0x6042 209
0x3402 87 0x6043 209
0x3403 87 0x6044 210
0x3404 133 0x6046 210
0x3405 134 0x6048 210
0x3406 138 0x6049 210
0x3407 140 0x605A 180
0x3408 79 0x605E 282
0x3440 93 0x6060 180
0x3441 97 0x6061 181
0x3442 93 0x6062 205
0x3443 91 0x6063 206
0x3444 92 0x6064 206
0x3445 90 0x6065 206
0x3446 90 0x6066 206
0x345F 91 0x6067 207
0x3460 101 0x6068 207
0x3461 106 0x606C 226
0x3462 110 0x6071 235
0x3463 114 0x6072 235
0x3500 246 0x6073 236
0x3501 249 0x6074 237
0x3540 254 0x6075 88
0x3544 269 0x6076 88
0x3545 270 0x6077 237
0x3546 274 0x6078 237
0x3549 266 0x6079 237
0x354C 258 0x607A 220
0x354D 261 0x607E 202
0x354E 257 0x6080 202
0x354F 257 0x6085 181
0x3550 257 0x608F 203
0x3581 300 0x6090 204
0x3582 300 0x60B1 227
0x3583 300 0x60B2 237
Index
________________________________________________________________
0x60B8 246 0x6890 204

0x60B9 248 0x68B1 227
0x60BA 249 0x68B2 237
0x60BB 249 0x68B8 246
0x60BC 249 0x68B9 248
0x60BD 250 0x68BA 249
0x60C0 220 0x68BB 249
0x60C2 220 0x68BC 249
0x60E0 221 0x68BD 250
0x60E1 221 0x68C0 220
0x60F4 207 0x68C2 220
0x60FA 207 0x68E0 221
0x60FC 207 0x68E1 221
0x60FD 177 0x68F4 207
0x60FF 227 0x68FA 207
0x6404 178 0x68FC 207
0x6502 178 0x68FD 177
0x67FF 178 0x68FF 227
0x683F 280 0x6C04 178
0x6840 179 0x6D02 178
0x6841 179 0x6FFF 178
0x6842 209
0x6843 209 A
0x6844 210 Advanced settings (0x2DE0 | 0x35E0) 77
0x6846 210 Application notes 16
0x6848 210 Axis
0x6849 210 Device data (0x2DDF | 0x35DF) 307
0x685A 180 Maximum current (0x2DDF:2 | 0x35DF:2) 307
0x685E 282 Rated current (0x2DDF:1 | 0x35DF:1) 307
Selection (0x2825 | 0x3025) 61
0x6860 180
Supported feedback system (0x2DDF:5 | 0x35DF:5) 307
0x6861 181
Axis A-->TPDO
0x6862 205
Additional status information (0x1A06) 341
0x6863 206
Cyclic sync position mode (csp) (0x1A00) 339
0x6864 206 Cyclic sync torque mode (cst) (0x1A01) 340
0x6865 206 Cyclic sync velocity mode (csv) (0x1A02) 340
0x6866 206 Freely configurable (user) (0x1A05) 341
0x6867 207 Touch probe (TP) (0x1A04) 340
0x6868 207 Velocity mode (vl) (0x1A03) 340
0x686C 226 Axis B-->TPDO
0x6871 235 Additional status information (0x1A16) 344
0x6872 235 Cyclic sync position mode (csp) (0x1A10) 341
0x6873 236 Cyclic sync torque mode (cst) (0x1A11) 342
Cyclic sync velocity mode (csv) (0x1A12) 342
0x6874 237
Freely configurable (user) (0x1A15) 343
0x6875 88
Touch probe (TP) (0x1A14) 343
0x6876 88
Velocity mode (vl) (0x1A13) 342
0x6877 237
Axis command
0x6878 237 Progress (0x2823 | 0x3023) 60
0x6879 237 Axis command (0x2822 | 0x3022) 60
0x687A 220
0x687E 202 B
0x6880 202 Behaviour after switch-on (0x2C63:1 | 0x3463:1) 114
0x6885 181 Brake
0x688F 203 Application time (0x2820:2 | 0x3020:2) 171
Index
________________________________________________________________
Brake identification (0x2820:4 | 0x3020:4) 171 TP1 delay time (0x2D00:1 | 0x3500:1) 246
Control logic (0x2820:5 | 0x3020:5) 172 TP2 delay time (0x2D00:2 | 0x3500:2) 246
Operating mode (0x2820:1 | 0x3020:1) 171 Delay time
Release time (0x2820:3 | 0x3020:3) 171 Reset error (0x2840 | 0x3040) 283
Brake control Determine target position
Settings (0x2820 | 0x3020) 171 Mode (0x2984 | 0x3184) 127
Brake monitoring Device
Response (0x2820:6 | 0x3020:6) 172 Actual output frequency (0x2DDD | 0x35DD) 306
Brand protection Data (0x2000) 47
Encryption (0x2100:3) 47 Hardware version (0x1009) 299
Enter pin (0x2100:2) 47 Max. current (0x6073 | 0x6873) 236
Set pin (0x2100:1) 47 Name (0x2001) 47
Brand protection (0x2100) 47 Operating time (0x2D81:1 | 0x3581:1) 300
Optical recognition (0x2021) 48
C Power-on time (0x2D81:2 | 0x3581:2) 300
CiA402 error codes (overview) 286 Product designation (0x2000:1) 47
Class-II errors 281 Production date (0x2000:3) 47
Serial number (0x2000:2) 47
Communication objects 335
Software version (0x100A) 299
Communication with the controller 23
Type (0x1000) 299
Control bits (0x10F3:5) 285
Voltage values (0x2540) 49
Control word (CiA) (0x6040 | 0x6840) 179
Device command (0x2022) 48
Control word (Lenze) (0x2830 | 0x3030) 29
Device control via PDO
Controller enable 62 Activation (0x2824 | 0x3024) 29
Controlword (0x6040 | 0x6840) 179 Device utilisation (Ixt)
Correction of the leakage inductance 132 Actual utilisation (0x2D40:4 | 0x3540:4) 254
Counter Error threshold (0x2D40:6 | 0x3540:6) 255
Operating time (0x2D81 | 0x3581) 300 Warning threshold (0x2D40:5 | 0x3540:5) 255
Critical DC-bus voltage (0x2540:8) 51 Diagnostics
Current - phase U (0x2D83:2 | 0x3583:2) 301 History buffer (0x10F3) 284
Current - phase V (0x2D83:3 | 0x3583:3) 301 Digital input delay times 246
Current - phase W (0x2D83:4 | 0x3583:4) 301 Digital inputs
Current controller Delay times (latencies) 246
Feedforward control (0x2941 | 0x3141) 117 Digital inputs (0x60FD | 0x68FD) 177
Gain (0x2942:1 | 0x3142:1) 117 Disable operation 62
Parameter (0x2942 | 0x3142) 117 DNS name (0x2020:6) 33
Reset time (0x2942:2 | 0x3142:2) 117 DNS server (0x2020:5) 33
Setting for identification (0x2DE0:1 | 0x35E0:1) 77
Document history 13
Current fault (0x284F | 0x304F) 280
D-voltage (magnetisation) (0x2DD7:4 | 0x35D7:4) 305
Current motor voltage limit
Actual voltage (0x2DD7:1 | 0x35D7:1) 305 E
Cyclic sync torque mode
ECAT
Speed limitation (0x2946 | 0x3146) 235
Behaviour in case of error (0x10F1) 46
Device profile number (0x67FF | 0x6FFF) 178
D ESI revision (0x1018:3) 299
D current (id) Identification data (0x1018) 299
Actual D-current (0x2DD1:1 | 0x35D1:1) 303 Manufacturer ID (0x1018:1) 299
Target D current (0x2DD1:3 | 0x35D1:3) 303 Manufacturer's device name (0x1008) 299
DC bus Product code (0x1018:2) 299
Actual voltage - filter time (0x29E2 | 0x31E2) 130 Serial number (0x1018:4) 299
Actual voltage (0x6079 | 0x6879) 237 ECAT DC
DC-injection braking 163, 282 Current time (0x10F8) 300
Current (0x2B80 | 0x3380) 163 Current time (0x2580:4) 54
D-current controller Real time information (0x2580) 53
Output signal (0x2DD7:2 | 0x35D7:2) 305 Status real time information (0x2580:1) 53
Dead time compensation Time stamp first real-time information (0x2580:2) 53
Index
________________________________________________________________
Time stamp last real-time information (0x2580:3) 53 Time monitoring (0x6066 | 0x6866) 206
E-mail to Lenze 358 Window (0x6065 | 0x6865) 206
Enable axis 62 Following error detection 206
Enable controller 62
Enable operation 62 H
Encoder Heatsink temperature
Angular drift - Actual angle error (0x2C42:3 | 0x3442:3) 94 Actual Temperature (0x2D84:1 | 0x3584:1) 255
Increments/revolution (0x2C42:1 | 0x3442:1) 93 Threshold - switch-off fan (0x2D84:4 | 0x3584:4) 256
Parameter (0x2C42 | 0x3442) 93 Threshold - switch-on fan (0x2D84:3 | 0x3584:3) 256
Signal quality - Actual amplitude (0x2C42:4 | 0x3442:4) 94 Warning threshold (0x2D84:2 | 0x3584:2) 255
Supply voltage (0x2C42:2 | 0x3442:2) 93 Heatsink temperature (0x2D84 | 0x3584) 255
Type (0x2C40 | 0x3440) 93 Hiperface
Encoder increments (0x608F:1 | 0x688F:1) 203 Absolute value fault
EoE (Ethernet over EtherCAT) 32 Response (0x2C41:4 | 0x3441:4) 97
EoE information (0x2020) 33 Detected increments / revolution (0x2C41:7 | 0x3441:7) 98
Error code (0x603F | 0x683F) 280 Determined type code (0x2C41:1 | 0x3441:1) 97
Encoder type (0x2C41:9 | 0x3441:9) 98
Error codes 38
Parameter (0x2C41 | 0x3441) 97
Error memory (0x1001) 299
Period length of linear encoders (0x2C41:10 | 0x3441:10) 98
Error messages (overview) 286
Raw data - Actual position (0x2C41:6 | 0x3441:6) 98
Error report 21 Serial number (0x2C41:5 | 0x3441:5) 98
Errors of class II 281 Type code supported by firmware (0x2C41:8 | 0x3441:8) 98
EtherCAT data telegram 35 User-defined encoder - Number of revolutions
Ethernet over EtherCAT (EoE) 32 (0x2C41:3 | 0x3441:3) 97
User-defined encoder - type code (0x2C41:2 | 0x3441:2) 97
F Holding brake
Feedback system Override of the holding brake control
Parameter CRC (0x2C5F | 0x345F) 91 (0x2820:11 | 0x3020:11) 173
Response to open circuit (0x2C45 | 0x3445) 90 Starting torque (0x2820:10 | 0x3020:10) 172
Specifiable number of revolutions (0x2C46 | 0x3446) 90 Starting torque source (0x2820:9 | 0x3020:9) 172
Feedback to Lenze 358
Field
I
Actual field (0x2DD0:1 | 0x35D0:1) 302 I²xt
Field set value limitation (0x29E1 | 0x31E1) 130 x1 = n01/nN (n01 ~ 0) (0x2D4D:1 | 0x354D:1) 261
Target field (0x2DD0:2 | 0x35D0:2) 302 x2 = n02/nN (n02 = limit - reduced cooling)
Values (0x2DD0 | 0x35D0) 302 (0x2D4D:3 | 0x354D:3) 261
x3 = n03/nN (n03 = rated speed) (0x2D4D:5 | 0x354D:5) 261
Field controller
x4 = n04/nN (n04 = limit - field weakening)
Gain (0x29C0:1 | 0x31C0:1) 128
(0x2D4D:7 | 0x354D:7) 261
Parameter (0x29C0 | 0x31C0) 128
y1 = i01/iN (x = n01 ~ 0) (0x2D4D:2 | 0x354D:2) 261
Reset time (0x29C0:2 | 0x31C0:2) 129
y2 = i02/iN (x = n02 = limit - reduced cooling)
Field weakening controller (0x2D4D:4 | 0x354D:4) 261
Gain (0x29E0:1 | 0x31E0:1) 129 y3 = i03/iN (x = n03 = rated speed) (0x2D4D:6 | 0x354D:6)
Parameter (0x29E0 | 0x31E0) 129 261
Reset time (0x29E0:2 | 0x31E0:2) 130 y4 = i04/iN (x = n04 = limit - field weakening)
Firmware download 19 (0x2D4D:8 | 0x354D:8) 261
Flying restart function Identity
Activate (0x2BA0 | 0x33A0) 159 Status word (0x2832 | 0x3032) 61
Current (0x2BA1 | 0x33A1) 161 Incr./s (0x6090:1 | 0x6890:1) 204
Delay time (0x2BA5 | 0x33A5) 161 Information on validity 13
Determined speed [n-unit] (0x2BA6:2 | 0x33A6:2) 162 Initial switch-on 19
Determined speed [r/min] (0x2BA6:1 | 0x33A6:1) 162
In-position recognition 207
Integration time (0x2BA3 | 0x33A3) 161
Interpolation
Min. deviation (0x2BA4 | 0x33A4) 161
Index (0x60C2:2 | 0x68C2:2) 220
Result (0x2BA6 | 0x33A6) 162
Time period (0x60C2 | 0x68C2) 220
Start frequency (0x2BA2 | 0x33A2) 161
Time period (0x60C2:1 | 0x68C2:1) 220
Following error
Interpolation sub mode select (0x60C0 | 0x68C0) 220
Actual error (0x60F4 | 0x68F4) 207
Index
________________________________________________________________
Inverter characteristic y15 = L15 (x = 87.50 %) (0x2C04:15 | 0x3404:15) 134

Voltage grid points (y) (0x2947 | 0x3147) 78 y16 = L16 (x = 93.25 %) (0x2C04:16 | 0x3404:16) 134
y1 = U01 (x = 0.00 %) (0x2947:1 | 0x3147:1) 78 y17 = L17 (x = 100.00 %) (0x2C04:17 | 0x3404:17) 134
y10 = U10 (x = 56.25 %) (0x2947:10 | 0x3147:10) 78 y2 = L02 (x = 6.25 %) (0x2C04:2 | 0x3404:2) 134
y11 = U11 (x = 62.50 %) (0x2947:11 | 0x3147:11) 78 y3 = L03 (x = 12.50 %) (0x2C04:3 | 0x3404:3) 134
y12 = U12 (x = 68.75 %) (0x2947:12 | 0x3147:12) 78 y4 = L04 (x = 18.75 %) (0x2C04:4 | 0x3404:4) 134
y13 = U13 (x = 75.00 %) (0x2947:13 | 0x3147:13) 78 y5 = L05 (x = 25.00 %) (0x2C04:5 | 0x3404:5) 134
y14 = U14 (x = 81.25 %) (0x2947:14 | 0x3147:14) 78 y6 = L06 (x = 31.25 %) (0x2C04:6 | 0x3404:6) 134
y15 = U15 (x = 87.50 %) (0x2947:15 | 0x3147:15) 78 y7 = L07 (x = 37.50 %) (0x2C04:7 | 0x3404:7) 134
y16 = U16 (x = 93.25 %) (0x2947:16 | 0x3147:16) 78 y8 = L08 (x = 42.75 %) (0x2C04:8 | 0x3404:8) 134
y17 = U17 (x = 100.00 %) (0x2947:17 | 0x3147:17) 78 y9 = L09 (x = 50.00 %) (0x2C04:9 | 0x3404:9) 134
y2 = U02 (x = 6.25 %) (0x2947:2 | 0x3147:2) 78 lwIP (TCP/IP stack) 346
y3 = U03 (x = 12.50 %) (0x2947:3 | 0x3147:3) 78
y4 = U04 (x = 18.75 %) (0x2947:4 | 0x3147:4) 78 M
y5 = U05 (x = 25.00 %) (0x2947:5 | 0x3147:5) 78 Magnet characteristic
y6 = U06 (x = 31.25 %) (0x2947:6 | 0x3147:6) 78 x1 = i01/iN (0x2C06:1 | 0x3406:1) 138
y7 = U07 (x = 37.50 %) (0x2947:7 | 0x3147:7) 78 x2 = i02/iN (0x2C06:3 | 0x3406:3) 138
y8 = U08 (x = 42.75 %) (0x2947:8 | 0x3147:8) 78 x3 = i03/iN (0x2C06:5 | 0x3406:5) 138
y9 = U09 (x = 50.00 %) (0x2947:9 | 0x3147:9) 78 x4 = i04/iN (0x2C06:7 | 0x3406:7) 138
IP address (0x2020:2) 33 y1 = kT01/kTN (0x2C06:2 | 0x3406:2) 138
Ixt utilisation (0x2D40 | 0x3540) 254 y2 = kT02/kTN (0x2C06:4 | 0x3406:4) 138
y3 = kT03/kTN (0x2C06:6 | 0x3406:6) 138
L y4 = kT04/kTN (0x2C06:8 | 0x3406:8) 138
L_SMC_BrakeControl 168 Mains
Latest acknowledged message (0x10F3:3) 285 Rated voltage (0x2540:1) 50
Latest message (0x10F3:2) 284 Manual jog
Layout of the safety instructions 16 Current controller - gain (0x2836:6 | 0x3036:6) 72
Lenze control word (0x2830 | 0x3030) 29 Current controller - reset time (0x2836:7 | 0x3036:7) 72
Lenze status word (0x2831 | 0x3031) 30 Frequency (0x2836:2 | 0x3036:2) 71
Ramp time - current (0x2836:3 | 0x3036:3) 72
Lenze statusword 2 (0x2833 | 0x3033) 30
Ramp time - frequency (0x2836:4 | 0x3036:4) 72
Lh
Setpoint current (0x2836:1 | 0x3036:1) 71
y1 = L01 (x = 0.00 %) (0x2C07:1 | 0x3407:1) 140
Settings (0x2836 | 0x3036) 71
y10 = L10 (x = 56.25 %) (0x2C07:10 | 0x3407:10) 140
Time monitoring (0x2836:5 | 0x3036:5) 72
y11 = L11 (x = 62.50 %) (0x2C07:11 | 0x3407:11) 140
Manual test mode
y12 = L12 (x = 68.75 %) (0x2C07:12 | 0x3407:12) 140
Frequency (0x2835:2 | 0x3035:2) 64
y13 = L13 (x = 75.00 %) (0x2C07:13 | 0x3407:13) 140
Setpoint current (0x2835:1 | 0x3035:1) 64
y14 = L14 (x = 81.25 %) (0x2C07:14 | 0x3407:14) 140
Settings (0x2835 | 0x3035) 64
y15 = L15 (x = 87.50 %) (0x2C07:15 | 0x3407:15) 140
Starting angle (0x2835:3 | 0x3035:3) 65
y16 = L16 (x = 93.75 %) (0x2C07:16 | 0x3407:16) 140
y17 = L17 (x = 100.00 %) (0x2C07:17 | 0x3407:17) 140 Max. number of messages (0x10F3:1) 284
y2 = L02 (x = 6.25 %) (0x2C07:2 | 0x3407:2) 140 Modes of operation (0x6060 | 0x6860) 180
y3 = L03 (x = 12.50 %) (0x2C07:3 | 0x3407:3) 140 Modes of operation display (0x6061 | 0x6861) 181
y4 = L04 (x = 18.75 %) (0x2C07:4 | 0x3407:4) 140 Moment of inertia
y5 = L05 (x = 25.00 %) (0x2C07:5 | 0x3407:5) 140 Load (0x2910:2 | 0x3110:2) 122
y6 = L06 (x = 31.25 %) (0x2C07:6 | 0x3407:6) 140 Motor (0x2910:1 | 0x3110:1) 122
y7 = L07 (x = 37.50 %) (0x2C07:7 | 0x3407:7) 140 Motor-load coupling (0x2910:3 | 0x3110:3) 122
y8 = L08 (x = 43.75 %) (0x2C07:8 | 0x3407:8) 140 Moments of inertia (0x2910 | 0x3110) 122
y9 = L09 (x = 50.00 %) (0x2C07:9 | 0x3407:9) 140 Monitoring
Licences 346 Position and velocity error (0x2D51) 275
Local Error Reaction (0x10F1:1) 46 Position error - error threshold (0x2D51:4) 275
Lss Position error - minimum error time (0x2D51:5) 275
y1 = L01 (x = 0.00 %) (0x2C04:1 | 0x3404:1) 134 Position error - response (0x2D51:6) 275
y10 = L10 (x = 56.25 %) (0x2C04:10 | 0x3404:10) 134 Ultimate motor current (0x2D46 | 0x3546) 274
y11 = L11 (x = 62.50 %) (0x2C04:11 | 0x3404:11) 134 Velocity error - error threshold (0x2D51:1) 275
y12 = L12 (x = 68.75 %) (0x2C04:12 | 0x3404:12) 134 Velocity error - minimum error time (0x2D51:2) 275
y13 = L13 (x = 75.00 %) (0x2C04:13 | 0x3404:13) 134 Velocity error - response (0x2D51:3) 275
y14 = L14 (x = 81.25 %) (0x2C04:14 | 0x3404:14) 134 Motor
Index
________________________________________________________________
Actual position of rotor angle (0x2DDE | 0x35DE) 306 Threshold (0x2D44:1 | 0x3544:1) 269
Actual voltage - filter time (0x29E3 | 0x31E3) 130 Motor speed monitoring (0x2D44 | 0x3544) 269
Actual voltage - Veff, phase-phase (0x2D82 | 0x3582) 300 Motor temperature monitoring
Common parameters (0x2C01 | 0x3401) 85 Actual motor temperature (0x2D49:5 | 0x3549:5) 267
Current actual value (0x6078 | 0x6878) 237 Error threshold (0x2D49:4 | 0x3549:4) 266
Current setpoint - filter time (0x2943 | 0x3143) 117 Parameter (0x2D49 | 0x3549) 266
Currents (0x2DD1 | 0x35D1) 302 Response (0x2D49:2 | 0x3549:2) 266
Designation (0x2C01:10 | 0x3401:10) 86 Sensor type (0x2D49:1 | 0x3549:1) 266
Insulation class (0x2C01:9 | 0x3401:9) 86 Warning threshold (0x2D49:3 | 0x3549:3) 266
Lss saturation characteristic - activation Motor utilisation (I²xt)
(0x2C04:18 | 0x3404:18) 134 Actual utilisation (0x2D4F | 0x354F) 257
Lss saturation characteristic - inductance grid points (y) Error threshold (0x2D50:2 | 0x3550:2) 258
(0x2C04 | 0x3404) 133
Influence of the winding (0x2D4C:3 | 0x354C:3) 259
Lss saturation characteristic - reference for current grid
Motor overload error (0x2D50 | 0x3550) 257
points (x) (0x2C05 | 0x3405) 134
Motor overload warning threshold (0x2D4E | 0x354E) 257
Manufacturer (0x6404 | 0x6C04) 178
Parameter for the thermal model (0x2D4C | 0x354C) 258
Max. speed (0x6080 | 0x6880) 202
Response (0x2D50:1 | 0x3550:1) 258
Number of pole pairs (0x2C01:1 | 0x3401:1) 85
Starting value (0x2D4C:4 | 0x354C:4) 259
Phase currents (0x2D83 | 0x3583) 300
Thermal time constant - laminations (0x2D4C:2 | 0x354C:2)
Rated cosine phi (0x2C01:8 | 0x3401:8) 86
259
Rated current (0x6075 | 0x6875) 88
Thermal time constant - winding (0x2D4C:1 | 0x354C:1) 259
Rated frequency (0x2C01:5 | 0x3401:5) 86
User-definable characteristic (0x2D4D | 0x354D) 261
Rated power (0x2C01:6 | 0x3401:6) 86
Rated speed (0x2C01:4 | 0x3401:4) 86
N
Rated torque (0x6076 | 0x6876) 88
New active message (0x10F3:4) 285
Rated voltage (0x2C01:7 | 0x3401:7) 86
Setting method - motor parameters (0x2C08 | 0x3408) 79 Notch filter 1
Stator leakage inductance (0x2C01:3 | 0x3401:3) 85 Bandwidth (0x2944:2 | 0x3144:2) 144
Stator resistance (0x2C01:2 | 0x3401:2) 85 Damping (0x2944:3 | 0x3144:3) 145
Frequency (0x2944:1 | 0x3144:1) 144
Motor (ASM)
Lh saturation characteristic - inductance grid points (y) Notch filter 2
(0x2C07 | 0x3407) 140 Bandwidth (0x2944:5 | 0x3144:5) 145
Magnetising current (0x2C02:3 | 0x3402:3) 87 Damping (0x2944:6 | 0x3144:6) 145
Mutual inductance (0x2C02:2 | 0x3402:2) 87 Frequency (0x2944:4 | 0x3144:4) 145
Parameter (0x2C02 | 0x3402) 87
Rotor resistance (0x2C02:1 | 0x3402:1) 87 O
Motor (SM) Open source software licences 346
e.m.f. constant (KELL) (0x2C03:1 | 0x3403:1) 87 Optical recognition
Magnet characteristic (current) - grid points Blinking duration (0x2021:2) 48
(0x2C06 | 0x3406) 138 Start (0x2021:1) 48
Parameter (0x2C03 | 0x3403) 87 Overvoltage (OU)
Pole position encoder (0x2C03:4 | 0x3403:4) 88 Error threshold (0x2540:6) 50
Pole position resolver (0x2C03:2 | 0x3403:2) 87 Threshold 'Reset error' (0x2540:7) 51
Temperature coefficient - magnets (kTN) Warning threshold (0x2540:5) 50
(0x2C03:3 | 0x3403:3) 88
Motor control (0x2C00 | 0x3400) 73 P
Motor current Ieff (0x2DD1:5 | 0x35D1:5) 303 Parameter communication 32
Motor phase failure 1 Parameter download 19
Current threshold (0x2D45:2 | 0x3545:2) 270 Parameter handling 19
Response (0x2D45:1 | 0x3545:1) 270
Parameter set 20
Voltage threshold (0x2D45:3 | 0x3545:3) 270
Validity check (CRC) (0x2030) 22
Motor phase failure 2
Persistent data storage 24
Response (0x2D45:4 | 0x3545:4) 271
Polarity (0x607E | 0x687E) 202
Motor phase failure detection (0x2D45 | 0x3545) 270
Pole position identification monitoring
Motor revolution/s (0x6090:2 | 0x6890:2) 204
Response (0x2C60 | 0x3460) 101
Motor revolutions (0x608F:2 | 0x688F:2) 203
Pole position identification PLI (without movement)
Motor speed monitoring (0x2C63 | 0x3463) 114
Response (0x2D44:2 | 0x3544:2) 269
Index
________________________________________________________________
Pole position identification PPI (360°) (0x2C61 | 0x3461) 106 Received packages (0x2020:7) 33
Pole position identification PPI (min. movement) Reset error (0x2841 | 0x3041) 283
(0x2C62 | 0x3462) 110 Resolver
Position 8 kHz safety signal (0x2DE0:4 | 0x35E0:4) 77
Actual position (0x6064 | 0x6864) 206 Number of pole pairs (0x2C43 | 0x3443) 91
Actual position (internal) (0x6063 | 0x6863) 206 Position detection - dynamics (0x2DE0:3 | 0x35E0:3) 77
Demand internal value (0x60FC | 0x68FC) 207 Resolver error compensation
Encoder resolution (0x608F | 0x688F) 203 Angle (0x2C44:1 | 0x3444:1) 92
Position window time (0x6068 | 0x6868) 207 Cosine track gain (0x2C44:2 | 0x3444:2) 93
Select new actual position (0x2983 | 0x3183) 126 Parameter (0x2C44 | 0x3444) 92
Set position (0x6062 | 0x6862) 205 Sine track gain (0x2C44:3 | 0x3444:3) 93
Target position (0x607A | 0x687A) 220 Response to error (0x605E | 0x685E) 282
Target position interpolated (0x2DD2 | 0x35D2) 303 RPDO-->Axis A
Window (0x6067 | 0x6867) 207 Cyclic sync position mode (csp) (0x1600) 335
Position controller Cyclic sync torque mode (cst) (0x1601) 336
Gain - adaption (0x2981 | 0x3181) 126 Cyclic sync velocity mode (csv) (0x1602) 336
Gain (0x2980 | 0x3180) 126 Freely configurable (user) (0x1605) 337
Output signal (0x60FA | 0x68FA) 207 Speed limit values (0x1607) 337
Output signal limitation (0x2982 | 0x3182) 126 Torque limits (0x1606) 337
Power down 24 Touch probe (TP) (0x1604) 336
Power stage utilisation (Ixt) Velocity mode (vl) (0x1603) 336
Actual utilisation (0x2D40:1 | 0x3540:1) 254 RPDO-->Axis B
Error threshold (0x2D40:3 | 0x3540:3) 254 Cyclic sync position mode (csp) (0x1610) 337
Warning threshold (0x2D40:2 | 0x3540:2) 254 Cyclic sync torque mode (cst) (0x1611) 338
Power up 24 Cyclic sync velocity mode (csv) (0x1612) 338
PPI (360°) Freely configurable (user) (0x1615) 339
Absolute current amplitude (0x2C61:5 | 0x3461:5) 107 Speed limit values (0x1617) 339
Current amplitude (0x2C61:1 | 0x3461:1) 106 Torque limits (0x1616) 339
Direction of rotation (0x2C61:3 | 0x3461:3) 107 Touch probe (TP) (0x1614) 338
Error tolerance (0x2C61:4 | 0x3461:4) 107 Velocity mode (vl) (0x1613) 338
Ramp time (0x2C61:2 | 0x3461:2) 106
PPI (min. movement) S
Absolute current amplitude (0x2C62:6 | 0x3462:6) 112 Safe Torque Off (status) 191
Current amplitude (0x2C62:1 | 0x3462:1) 111 Safety instructions 16
Gain (0x2C62:3 | 0x3462:3) 111 Saturation characteristic 132
Max. move permitted (0x2C62:5 | 0x3462:5) 111 Saving parameters safe against mains failure 63
Ramp time - current (0x2C62:2 | 0x3462:2) 111
SDO abort codes (Abort codes) 28
Reset time (0x2C62:4 | 0x3462:4) 111
SDO communication 32
Sensorless synchronous control
Q
Signal for test mode (0x2DE0:2 | 0x35E0:2) 77
Q-current (iq)
Sent packages (0x2020:8) 33
Actual Q-current (0x2DD1:2 | 0x35D1:2) 303
Short-circuit braking 164, 282
Target Q current (0x2DD1:4 | 0x35D1:4) 303
Slip
Q-current controller
Actual slip (0x2DDC | 0x35DC) 306
Output signal (0x2DD7:3 | 0x35D7:3) 305
Spec. charact.
Quick stop
Resistance sampling point 1(0x2D49:8 | 0x3549:8) 267
Deceleration (0x6085 | 0x6885) 181
Resistance sampling point 2(0x2D49:9 | 0x3549:9) 267
Duration in the event of a fault (0x2826 | 0x3026) 283
Temperature sampling point 1(0x2D49:6 | 0x3549:6) 267
Response to request (0x605A | 0x685A) 180
Temperature sampling point 2(0x2D49:7 | 0x3549:7) 267
Q-voltage (torque) (0x2DD7:5 | 0x35D7:5) 306
Speed
Actual speed - filter time (0x2904 | 0x3104) 125
R
Limited speed setpoint (0x2DD3:3 | 0x35D3:3) 304
Ramp
Speed setpoint - filter time (0x2903 | 0x3103) 124
Delta speed (0x6048:1 | 0x6848:1) 210
Target speed (0x2DD3:1 | 0x35D3:1) 303
Delta speed (0x6049:1 | 0x6849:1) 211
Target speed 2 (0x2DD3:2 | 0x35D3:2) 303
Delta time (0x6048:2 | 0x6848:2) 210
Speed controller
Delta time (0x6049:2 | 0x6849:2) 211
Index
________________________________________________________________
Gain - adaption (0x2901 | 0x3101) 124 Torque actual value (0x6077 | 0x6877) 237
Gain (0x2900:1 | 0x3100:1) 124 Torque offset (0x60B2 | 0x68B2) 237
Load value I component (0x2902 | 0x3102) 124 Touch probe (TP)
Output signal (0x2DD4 | 0x35D4) 304 Dead time compensation (0x2D00 | 0x3500) 246
Output signal 1 (0x2DD4:1 | 0x35D4:1) 304 Debounce time (0x2500) 245
Output signal 2 (0x2DD4:2 | 0x35D4:2) 304 Time stamp (0x2D01 | 0x3501) 249
Parameter (0x2900 | 0x3100) 124 Touch probe function (0x60B8 | 0x68B8) 246
Rate time (0x2900:3 | 0x3100:3) 124 Touch probe status (0x60B9 | 0x68B9) 248
Reset time (0x2900:2 | 0x3100:2) 124
TP1
Speed monitoring Time stamp - falling edge (0x2D01:2 | 0x3501:2) 249
Actual speed error (0x2D8A | 0x358A) 301 Time stamp - rising edge (0x2D01:1 | 0x3501:1) 249
Speed restriction Touch probe pos1 neg value (0x60BB | 0x68BB) 249
Lower speed limit (0x2946:2 | 0x3146:2) 235 Touch probe pos1 pos value (0x60BA | 0x68BA) 249
Upper speed limit (0x2946:1 | 0x3146:1) 235 TP2
Standard gateway (0x2020:4) 33 Time stamp - falling edge (0x2D01:4 | 0x3501:4) 249
Status word (CiA) (0x6041 | 0x6841) 179 Time stamp - rising edge (0x2D01:3 | 0x3501:3) 249
Status word (Lenze) (0x2831 | 0x3031) 30 Touch probe pos2 - rising edge (0x60BC | 0x68BC) 249
Statusword (0x6041 | 0x6841) 179 Touch probe pos2 neg value (0x60BD | 0x68BD) 250
STO 62, 191
Structure of the EtherCAT data telegram 35 U
Structure of the safety instructions 16 Ultimate motor current
Subnet mask (0x2020:3) 33 Response (0x2D46:2 | 0x3546:2) 274
Supported drive modes (0x6502 | 0x6D02) 178 Threshold (0x2D46:1 | 0x3546:1) 274
Switching frequency (0x2939 | 0x3139) 165 Undervoltage (LU)
Sync manager Error threshold (0x2540:3) 50
Communication type (0x1C00) 344 Threshold 'Reset error' (0x2540:4) 50
Warning threshold (0x2540:2) 50
Sync Manager 2 (RPDO-->Device)
Parameter (0x1C32) 345
PDO mapping (0x1C12) 344
V
Sync Manager 3 (Device-->TPDO) V/f
Parameter (0x1C33) 345 x1 = f01 (0x2B02:1 | 0x3302:1) 149
x10 = f10 (0x2B02:10 | 0x3302:10) 149
Sync Manager 3 (RPDO-->Device)
x11 = f11 (0x2B02:11 | 0x3302:11) 149
PDO mapping (0x1C13) 345
x2 = f02 (0x2B02:2 | 0x3302:2) 149
Synchronisation
x3 = f03 (0x2B02:3 | 0x3302:3) 149
Error threshold (0x10F1:2) 46
x4 = f04 (0x2B02:4 | 0x3302:4) 149
x5 = f05 (0x2B02:5 | 0x3302:5) 149
T x6 = f06 (0x2B02:6 | 0x3302:6) 149
Target group 13 x7 = f07 (0x2B02:7 | 0x3302:7) 149
Target speeds (0x2DD3 | 0x35D3) 303 x8 = f08 (0x2B02:8 | 0x3302:8) 149
TCP/IP stack (IwIP) 346 x9 = f09 (0x2B02:9 | 0x3302:9) 149
Terminology used 15 y1 = U01 (x = f01) (0x2B03:1 | 0x3303:1) 149
Torque y10 = U10 (x = f10) (0x2B03:10 | 0x3303:10) 149
4 or 16 kHz interpolation (0x2DE0:5 | 0x35E0:5) 78 y11 = U11 (x = f11) (0x2B03:11 | 0x3303:11) 149
Filter cascade - starting value (0x2DD6:1 | 0x35D6:1) 305 y2 = U02 (x = f02) (0x2B03:2 | 0x3303:2) 149
Filter cascade (0x2DD6 | 0x35D6) 304 y3 = U03 (x = f03) (0x2B03:3 | 0x3303:3) 149
Max torque (0x6072 | 0x6872) 235 y4 = U04 (x = f04) (0x2B03:4 | 0x3303:4) 149
Negative limit value (0x60E1 | 0x68E1) 221 y5 = U05 (x = f05) (0x2B03:5 | 0x3303:5) 149
Notch filter 1 - input value (0x2DD6:2 | 0x35D6:2) 305 y6 = U06 (x = f06) (0x2B03:6 | 0x3303:6) 149
Notch filter 2 - input value (0x2DD6:3 | 0x35D6:3) 305 y7 = U07 (x = f07) (0x2B03:7 | 0x3303:7) 149
Notch filter setpoint torque (0x2944 | 0x3144) 144 y8 = U08 (x = f08) (0x2B03:8 | 0x3303:8) 149
Positive limit value (0x60E0 | 0x68E0) 221 y9 = U09 (x = f09) (0x2B03:9 | 0x3303:9) 149
Setpoint jerk limitation (0x2945 | 0x3145) 142 Velocity
Target torque (0x2DD5 | 0x35D5) 304 Encoder resolution (0x6090 | 0x6890) 204
Target torque (0x6071 | 0x6871) 235 Target velocity (0x60FF | 0x68FF) 227
Target torque (0x6074 | 0x6874) 237 Velocity actual value (0x606C | 0x686C) 226
Target torque filtered (0x2DD6:4 | 0x35D6:4) 305 vl target velocity (0x6042 | 0x6842) 209
Index
________________________________________________________________
vl velocity acceleration (0x6048 | 0x6848) 210

vl velocity actual value (0x6044 | 0x6844) 210
vl velocity deceleration (0x6049 | 0x6849) 210
vl velocity demand (0x6043 | 0x6843) 209
vl velocity max amount (0x6046:2 | 0x6846:2) 210
vl velocity min amount (0x6046:1 | 0x6846:1) 210
vl velocity min max amount (0x6046 | 0x6846) 210
Velocity offset (0x60B1 | 0x68B1) 227
VFC
Imax controller - gain (0x2B08:1 | 0x3308:1) 154
Imax controller - parameter (0x2B08 | 0x3308) 154
Imax controller - reset time (0x2B08:2 | 0x3308:2) 154
Load adjustment - direction of rotation
(0x2B07:1 | 0x3307:1) 152
Load adjustment - parameter (0x2B07 | 0x3307) 152
Load adjustment - value (0x2B07:2 | 0x3307:2) 152
Oscillation damping - filter time (0x2B0A:2 | 0x330A:2) 157
Oscillation damping - gain (0x2B0A:1 | 0x330A:1) 157
Oscillation damping - limitation (0x2B0A:3 | 0x330A:3) 157
Oscillation damping - parameter (0x2B0A | 0x330A) 157
Oscillation damping - ramp-end frequency
(0x2B0A:4 | 0x330A:4) 158
Override point of field weakening (0x2B0C | 0x330C) 158
Parameter voltage vector control (0x2B05 | 0x3305) 150
Setpoint frequency (0x2B0B | 0x330B) 158
Slip compensation - filter time (0x2B09:2 | 0x3309:2) 155
Slip compensation - influence (0x2B09:1 | 0x3309:1) 155
Slip compensation - parameter (0x2B09 | 0x3309) 155
User-definable V/f characteristic - frequency grid points (x)
(0x2B02 | 0x3302) 149
User-definable V/f characteristic - voltage grid points (y)
(0x2B03 | 0x3303) 149
V/f characteristic - define reference point (0x2B01 | 0x3301)
148
V/f characteristic - frequency at reference point
(0x2B01:2 | 0x3301:2) 148
V/f characteristic - shape (0x2B00 | 0x3300) 147
V/f characteristic - voltage at reference point
(0x2B01:1 | 0x3301:1) 148
Voltage boost (0x2B06 | 0x3306) 152
Voltage vector control - setpoint current (0x2B04 | 0x3304)
150
Voltage vector controller - gain (0x2B05:1 | 0x3305:1) 150
Voltage vector controller - reset time (0x2B05:2 | 0x3305:2)
150
Virtual MAC address (0x2020:1) 33
Voltage reserve range (0x29E4 | 0x31E4) 130
Voltage values (0x2DD7 | 0x35D7) 305
Z
Zero system current (0x2D83:1 | 0x3583:1) 301
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i700 servo inverter · reference manual · EDSE70ACMxx · 13512810 · DMS 3.0 EN · 06/2016 · TD06
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i700 servo inverter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Reference manual EN

1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 13

3 Communication with the controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23

4.3 Function "Optical device recognition" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 48

5 Motor control & motor settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 55

5.8.3 Motor parameters (object descriptions) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 85

5.11.6 Setting the field weakening controller (ASM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 129

5.16 "Short-circuit braking" function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 164

6 Holding brake control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 167

7 CiA402 device profile _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 174

7.5 Parameters for the scaling of physical values _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 202

7.10.2 Object description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 234

8 Monitoring functions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 251

8.9.1 Monitoring of the position error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 276

9 Diagnostics & error management _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 278

9.4 CiA402 error codes / error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 286

Error code 0xFF12: Inverter error too big

11.3 Communication objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 335

Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 358

1 About this documentation

Product series Type designation From software version

1.1 Conventions used

Type of information Highlighting Examples/notes

Hyperlink underlined Optically highlighted reference to another topic. It is

1.2 Terminology used

1.3 Definition of the notes used

Pictograph Signal word Meaning

Pictograph Signal word Meaning

1.4 Structure of the parameter descriptions

Each parameter description is structured according to the following pattern:

Example: Structure of the parameter descriptions in this documentation

 Object index for axis A

2.1 Parameter transfer during initialisation

Firmware download (optional)

Storage parameter set (par001.i7psf)

Total parameter set (par000.i7psf)

 The structure of the parameter set file is described in the appendix.

2.2.1 Saving a parameter set from the i700 to a file (export)

2.2.2 Loading the stored parameter set to the i700 (import)

2.2.3 Monitoring of the parameter import (error report)

Cyclic redundancy check (CRC):

0x2030 - Parameter set: Validity check (CRC)

Checksum for quick comparison of the storage parameter set (par001.i7psf)

Display area (min. value | unit | max. value) Initialisation

3 Communication with the controller

 "EtherCAT control technology" communication manual

Objects described in this chapter

Object Name Data type

0x2020 EoE information RECORD

3.1 Acceleration of the system (initialisation)

Power up/Power down

Persistent data storage

3.2 Process data (cyclic PDO transfer) and PDO mapping

 "EtherCAT control technology" communication manual

3.2.1 Synchronisation with "Distributed clocks" (DC)

 "EtherCAT control technology" communication manual

3.3 Parameter data transfer (SDO communication)

3.3.1 Object directory